Home BEAM background   Getting started Tutorials The "Miller" walker tutorial Nv nets The basic circuit Applications Leg mechanics Core / leg interface Convergence Mechanics tutorials Schmitt triggers, logic, and feedback "Hacking" a Mac floppy eject motor Reversing a motor without sensors Build an RJP   BEAM From the Ground Up is a BEAM Reference Library site.		Andrew Miller's 2-motor walker tutorial The Andrew Miller memorial tutorial The material in this appendix is directly derived from a set of tutorial web pages authored by Andrew Miller. Andrew has since moved on to other pursuits (that pesky "work thing," don'cha know...), so in the interests of education, I "prettied" up his treatment a bit (the original was so rich in font styles, that it was a bit distracting), cleaned up some terminology and spelling, and gave it a home here. Thus endeth the preface... "How Do I Make A Walker????" The fact is it's impossible to teach someone all the empirical knowledge and skill base that goes into a BEAM walker. But in the following material I will attempt to describe the MicroCore and its implementation in a 2-motor / 4-leg walker. Take note, this is by no means all the info that is possible but it should get you started. I've tried to make it as straightforward as possible. 1 What is a Nv Network ? Some other interesting thoughts on Nv Nets Here 2 The Basic Circuit 3 What to do with the circuit 4 Leg Mechanics 5 The MicroCore / Legs Interface 6 Convergence , or the subtle art of falling over   For more information... Tom Mairs has another version of this material on his site, and Dave Hrynkiw of Solarbotics has yet another elsewhere on Solarbotics.net.
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