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and the relative location of each actuator. It is quite difficult to drive a two-DOF hip joint with cables, but it can be done. The general layout would look much like what is shown in Figure 7-7.

The company turned to MTI and its Vivant product to provide multiplatform high-availability data storage. Nobody else did Windows 2000 with a SAN on the back end, says Matthew Yeager, senior systems architect at Datalink. Nova had already chosen an MTI system over Hitachi Data Systems and EMC in the United States when its SAN in Atlanta was in need of more capacity. We had already learned a lot from the system implementation in the States, and we wanted to take what we had learned from this project and bring it with us to the Irish development, says Gene Budd, director of technical support at Euroconex. When we sourced a storage vendor in the States, we looked at all the main players and asked them to test the products over a 2-month period. MTI not only did what it said it would, but it also provided us with the most cost-effective solution. EMC and MTI were very close speedwise, but we found MTI s management interface a lot simpler. It was both a management interface issue and a cost issue. Euroconex needed a solution that would be scalable and easy to manage. It decided to base the systems infrastructure around MTI s Vivant 20, which provides a storage capacity of 1.5 TB, upgradeable to 4.5 TB with the adjunction of more disks. The system is fault-tolerant, thanks to two Microsoft Exchange 2000 high-availability nodes implemented in an active-active clustered configuration (meaning that they are both alive, as opposed to having one node waiting for the other one to fail). Each of these nodes is capable of handling its counterpart s burden should there be a failure. They are connected to the Vivant 20 through HBA Fibre

Statically-stable walkers are easier to implement than dynamically-stable walkers. A method used to group statically-stable walkers is the technique used to move the legs. There are three useful sub groups: wave walking, independent leg walking, and frame walking. Wave walking is what animals with many legs use, like millipedes. Independent leg walking is used by just about every four, six, and eight-leg walker, although some simplify things by moving their legs in groups for certain speeds or motions. Frame walking exists in nature in the form of an inchworm, and is the simplest of the three, but to have high mobility still requires many actuators. As we shall see, frame walking can be a very effective mobility method for a mobile robot.

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Centipedes and millipedes use a walking technique that must be mentioned, although it is simple in concept, for walking robots, it is less efficient than other methods. The robot lifts its rear-most set of legs and swings them forward and sets them down, then the next set of legs is moved similarly. When the front-most set of legs is moved, the whole robot chassis is moved forward relative to the legs. The process can be smoothed out some by averaging the position of the body as each set of legs moves forward. This technique can be used with six- or more-legged robots, but is not very common in robots because of the large numbers of joints and actuators.