AT-AT（四足行走者）

 

		这是我的NXT四足行走者。这是我自己设计的第一个行走者。它走得相当好，但是还很慢，因为制造一个好的四足行走者很难。这需要能用两条腿平衡，同时在地上拖动另外两条腿。
		Posted by:   Frenchie16 Created:   11 Feb 2007 Tags:   starwars, at, walker, quadraped, quadruped, 4, legged, leg, walk

Program I currently have only two simple programs. The first one is for calibrating the legs so that they will stay synchronized. If you push the left button, the left legs move slowly, and if you push the right button, the right legs move slowly. You have to watch the orange "claw" (see picture) until it is pointing straight up or straight down and then stop. check to make sure that one side's legs are all the way towards the center (inwards) and the other side's legs are all the way towards the front and back (outwards). The second program makes the robot walk forward. Every few steps, if one side has fallen behind it lets that side catch up before continuing, so the legs are always synchronized. It does not currently use the sensors. In theory it should be able to turn by running one side forward and the other back but I have not done this yet, I do not think it is sturcturally sturdy enough to withstand turning. Once I make it sturdier I will try.

Legs The legs of this robot are a modified version of a common design. In many walkers the legs have a point around which they can rotate and slide up and down. Then the top part is connected to a gear, which creates a circular motion that moves the leg in a way that helps it to walk- forward, down, back, up, forward, etc. This has that same design but a sturdy sliding/rotating joint. You can see this in the picture.

Program
		I currently have only two simple programs. The first one is for calibrating the legs so that they will stay synchronized. If you push the left button, the left legs move slowly, and if you push the right button, the right legs move slowly. You have to watch the orange "claw" (see picture) until it is pointing straight up or straight down and then stop. check to make sure that one side's legs are all the way towards the center (inwards) and the other side's legs are all the way towards the front and back (outwards). The second program makes the robot walk forward. Every few steps, if one side has fallen behind it lets that side catch up before continuing, so the legs are always synchronized. It does not currently use the sensors. In theory it should be able to turn by running one side forward and the other back but I have not done this yet, I do not think it is sturcturally sturdy enough to withstand turning. Once I make it sturdier I will try.