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ment, but decreases efficiency. They have very high mobility, able to climb steps nearly as high as the legs are long. Robotics researchers are working on small four- and six-wheel leg robots that use this concept with very good results. Figure 7-15 shows the basic concept. A variation of this design extends the whisker legs more axially than radially. This idea is taken from studying cockroaches whose legs act like paddles when scrambling over bumpy terrain. If walking is being considered as the mobility system for an autonomous robot, there are several things to remember. Using a statically-stable design requires far less expertise in several fields of engineering and will therefore dramatically increase the chances of success. Frame walking is easier to implement than wave- or independent-leg walking. Studies have shown six legs are optimal for most applications. Rotary joints are usually more robust.

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In addition, Exchange 2000 is able to implement separate databases for individual user groups and therefore achieve higher availability as opposed to having a single contiguous database for all users. Nine separate logical unit numbers thus have been created on the Vivant 20, where all data resources will be centralized. The infrastructure will be used for all customer support activities and will enable storage of call monitoring recordings and imaging documents such as contracts or screen grabs. Implementation of the system began in November 2000 in a test center located in Sandyford, Dublin, 7 months after design analysis work first started. According to Budd, the Euroconex experience will now benefit Nova s U.S. operation and enable the company to collapse one of its data centers there. The clustering technology built into Exchange 2000 will allow one clustered server to serve multiple sites without the worry of having one system down bringing the whole e-mail system to a halt, Budd says.

Walkers have inherently more degrees of freedom, which increases complexity and debug time As will be investigated in the chapter on mobility, walkers deal with rugged terrain very well, but may not actually be the best choice for a mobility system Roller walkers offer the advantages of both walking and rolling and in a well thought out design may prove to be very effective Walkers have been built in many varieties Some are variations on what has been presented here Some are totally different In general, with the possible exception of the various roller walkers, they share two common problems, they are complicated and slow Nature has figured out how to make high-density actuators and control many of them at a time at very high speed Humans have figured out how to make the wheel and its close cousin, the track.

blame themselves for choosing poorly. You don t expect much if there are only two pairs of jeans to choose from. If there are hundreds, you expect one to be perfect.*

Downloaded from Digital Engineering Library @ McGraw-Hill (www.digitalengineeringlibrary.com) Copyright 2004 The McGraw-Hill Companies. All rights reserved. Any use is subject to the Terms of Use as given at the website.

The fastest land animal, the cheetah, has been clocked at close to 100km/hr The fastest land vehicle has hit more than seven times that speed Contrarily, a mountain goat can literally run along the face of a steep cliff and a cockroach can scramble over terrain that has obstacles higher than itself, and can do so at high speed There are no human-made locomotion devices that can even come close to a goat s or cockroach s combined speed and agility Nature has produced what is necessary for survival, but nothing more Her most intelligent product has not yet been able to produce anything that can match the mobility of several of her most agile products Perhaps someday we will.

For the person just getting started in robotics, or for someone planning to use a robot to do a practical task, it is suggested to start with a wheeled or tracked vehicle because of their greater simplicity For a mechanical engineer interested in designing a complex mechanism to learn about statics, dynamics, strength of materials, actuators, kinematics, and control systems, a walking robot is an excellent tool..

The joint venture will employ approximately 800 people, mostly in new positions, within the next 4 years. The project was scheduled to go live on June 1, when Euroconex expected to start processing merchants on its own system.

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