L-Rex is something that I have been thinking about for a while but haven't had the time to do, so I decided to put my (very large) mosaic project on hold and start looking into the possibility of being able to create a biped.
As many of you know the trick to a good Lego biped lies in solving the "Center of Gravity" (COG) problem. I decided early on to try the sled solution, that is to have a "sled" that holds the weight you plan to use as your COG mechanism.
My solution uses 1 RCX, 3 Motors and 2 touch sensors.
RCX: Controls the use of the motors and the sensors the code makes the legs walk continuously while it waits for a sensor to be pressed, once pressed, it then activates the tail motor and the sled motor to re-balance the model as it changes feet.
Motor A: Controls the legs movement.
Motor B: Controls the movement of the tail.
Motor C: Controls the movement of the sled (containing the RCX).
Sensor 1: Detects the movement of the left leg.
Sensor 3: Detects the movement of the right leg.
Click here to see a video of the plodding rex or see below for some pictures of L-Rex in action...
My solution uses 1 RCX, 3 Motors and 2 touch sensors.
RCX: Controls the use of the motors and the sensors the code makes the legs walk continuously while it waits for a sensor to be pressed, once pressed, it then activates the tail motor and the sled motor to re-balance the model as it changes feet.
Motor A: Controls the legs movement.
Motor B: Controls the movement of the tail.
Motor C: Controls the movement of the sled (containing the RCX).
Sensor 1: Detects the movement of the left leg.
Sensor 3: Detects the movement of the right leg.
Click here to see a video of the plodding rex or see below for some pictures of L-Rex in action...
L-Rex takes a walk:
L-Rex takes a walk:
Jurassic Park?
The tail swings with the sled to help with the COG:
The RCX on the sled completes one of its slides:
The motors and sled base:
A touch sensor (they are mounted in the inside of the hips):
