4 Legged Walker


Walker is a BEAM Robot

BEAM-Biology, Electronics, Aesthetics, and Mechanics

Walker was built using "Suspended Bicore" in Master/Slave combination.


The heart of core technology is the use of neurons.Neurons are most common in living creatures.It supplies the creature with information processing ablities, caused by the loads of neurons connected together.


Connecting two of these neurons together, we get the BICORE. It is quite easy to imagine two of these neurons passing the pulse over to one another. If both resistors and both capacitors are equal in value, the bicore will have a duty-cycle of 50% and thus be symmetric.


To increase the symmetry of the bicore, it is possible to change the resistors for one resistor,as shown in the figure below.The suspended bicore can be imagined as a normal bicore in which one corner functions as a ground for the other corner.


The master/slave combination is a very good driver for four legged walkers, connecting each bicore to two legs.The master/slave combination is nothing but a suspended bicore with connected to it's i/p the "normally grounded" resistors of a normal bicore.

Characteristics of master/slave combination:-

  • The connecting resistors affect the delay between the master and it's slave
  • If you want the delay to be longer than half an oscillation time, you'll have to change the value of the capacitors on the slave,because it'll otherwise be too slow for the master.
  • The resistor in the master bicore determines the oscillation time of the entire bicore,together with the capacitors, but it is most common to change the resistor to adapt the speed of oscillation.

The most common master/slave combination is one in which the slave oscillates at the same rate as the master .