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Virtually all other legged animals in nature that don t use wave walking can control each leg independently. Some animals are better than others, but the ability is there. Figures 7-8 and 7-9 show four- and six-legged walkers with three rotary-actuated joints in each leg. An eight-leg layout would have no less than 24 actuators. The four- and six-legged versions

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6 Channel cards. This configuration also enables data to be fully accessible during maintenance operations through the use of rollingupgrade techniques.

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theoretically have very high mobility. Many research robots have been built that use four or six legs and are impressively agile, if very slow. Although it would seem impossible to build a two-legged staticallystable robot, there is a trick that toys and some research robots use that gives the robot the appearance of being dynamically stable when they are actually statically stable. The trick is to have feet that are large enough to hold the robot upright on one foot without requiring the foot to be in exactly the right place. In effect, foot size reduces the required accuracy of foot placement so that the foot can be placed anywhere it can reach and the robot will not fall over. The wide feet must also prevent tipping over sideways and are so wide that they overlap each other and must be carefully shaped and controlled so they don t step on each other. Two-legged walking, with oversized and overlapping feet, is simply picking up the back foot, bringing it forward, and putting it down. The hip joints require a second DOF in addition to swinging fore and aft, to allow rotation for turning. Each leg must have at least three DOF, and usually requires four. The layout shown in Figure 7-10 can only walk in a straight line because it lacks the hip rotation joint. Notice that even with only two legs and no ability to turn, this layout requires six actuators to control its six degrees of freedom. This layout provides a good educational tool to learn about walking. Although in the final implementation it may have eight DOF and its

Disaster recovery and backup also are provided by MTI, using the new version of Legato backup software on ATL tapes for off-site storage. We did some testing of the disaster-recovery element of the system on a temporary system recently, and we can be up and running again, with full Windows content, within 20 minutes, Budd explains. Euroconex wanted its users to be able to access their data no matter which workstation they were using on any day. This has been achieved by including user directory folders in the user profiles stored in the active directory. These data are then stored directly on the Vivant 20. Moreover, all Microsoft Office documents are saved automatically to the user directory located on the server.

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