I managed to re-work an old design. By using 2 motors and drive mechanisms, I was able to get the walker to steer. The key to steering is the syncro mechanism that I setup. It uses 2 touch sensors – 1 on each of the left and right center drive legs. Using NQC, the code will monitor the timing of the rotations.
It goes something like this: When sensor #1 is triggered – is sensor #2 triggered? If not, stop drive #1 and wait for drive #2 to catch up, then start drive #1 again. This works quite well, except that the bot looks odd when in correction mode. Using the proximity detection from my previous bot (Proximity Detector), this walker will detect obstacles and engage in reversing and turning around. Steering is accomplished by reversing one drive unit. This will set one set of legs in reverse and steer the bot.
For more pics, go to the CREATIONS link and view the Steerable 6 Legged Hex pics.
This picture shows the underside of the walker. The drive mechanism and supports can be seen. Also note the touch sensor which is mounted facing up.
This is a closeup picture of the syncro mechanism mentioned. You can also see the sensor that was noted in the picture above.
Another picture of the robot.
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