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Walker robots have the potential to transverse rough terrain that is impassable by standard wheeled vehicles. It is with this in mind that robotists are developing walker robots.

where q~)(p2, m2, A2) is finite as N -+ 00, whereas ~lr(2)(m2, A2) behaves at worst as a power of In (A2jm 2), and ~2r(2) as A2 [times In P (A2jm 2)]. The counterterm to order L reads

sense If not if the explanation becomes long, involved, or ingenious then very likely it is not obvious. For, to repeat, When you find the answer, it will be simple. 4. Does it explode in people s minds If, when you have presented your idea, outlined your solution to a problem, or explained your plan, project, or program, people say, Now why didn t we think of that before you can feel encouraged. For obvious ideas are very apt to produce this explosive mental reaction. 5. Is the time ripe Many ideas and plans are obvious in themselves, but just as obviously out of time. Checking the timeliness is often just as important as checking the idea or plan itself. A repositioning that s ahead of its time or after its time is a big problem.

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Sophisticated walkers imitate insects, crabs, and sometimes humans. Bipedal walkers are rare, requiring a good deal of engineering science. I plan to have a bipedal walker robot project in my next book on robotics, tentatively titled Pic-Robotics. In this chapter we will build a six-legged walker robot.

Using a six-legged model we can demonstrate the famous tripod gait used by the majority of legged creatures. In the following drawings a dark circle means the foot is firmly planted on the ground and supporting the weight of the creature. A light circle means the foot is up and movable.

Figure 11.1 shows our creature at rest. All feet are on the ground. From the resting position our creature decides to move forward. To step forward, it lifts three of its legs (see Fig. 11.2, white circles), leaving its weight on the remaining three legs (dark circles). Notice that the legs supporting the weight (dark circles) are in the shape of a tripod. This is a stable weight-supporting position. Our creature is unlikely to fall over. The three lifted legs (white circles) are free to move, and they move forward. Figure 11.3 illustrates where the three lifted legs move. At this point, the creature s weight shifts from the stationary legs to the movable legs (see Fig. 11.4). Notice that the creature s weight is still supported by a tripod position of legs. Now the other set of legs move forward and the cycle repeats. This is called a tripod gait, because the creature s weight is always supported by a tripod positioning of legs.

The answer was both simple and obvious when we were called in a few years ago to work with Orange Regional Medical Center in lower New York State. Today, Orange Regional is nationally recognized as a Thomson Reuters Top 100 hospital. But back then, research showed that it was underappreciated for the caliber of its physicians and the sophistication of its technology.

There are a lot of little wind-up toy walkers around. These toy walkers move their legs up and down, back and forth, using a rotary cam mechanism. While these walkers work, and some are surprisingly fast, our task is to build a walker that does not use a rotary cam to imitate walking.

We will build a walker robot that imitates a tripod gait. The walker outlined in this chapter requires a minimum of three servo motors. There are numerous hexapod and quadrapod walker designs that require greater freedom of movement per leg. Greater freedom of movement per leg means more independent drivers per leg. If one is using servo motor drivers, this can be achieved using two, three, or four servo motors per leg. The need for so many servo motors (drivers) is because each leg on the walker needs to have a minimum of two axes (degrees) of freedom. One to move up or down and the second to move (swing) forward and back.

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