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Balancing a quadruped is simpler than balancing a biped, that s for sure. However, the legs must move in sync to clear the COG bounds that we discussed in 1. Here we are talking about a generic quadruped robot that uses only its four feet as supporting points that is a robot, whose legs are long, and whose body is far from the ground. Figure 6-2 shows the techniques a quadruped robot could use to walk straight assuming that the legs on each side are synchronized. This means that each front leg is coupled with the back leg on the same side. When one foot is lifted from the ground, the other foot is touching the ground; when a leg moves forward, the other is brought backwards, as shown in Figure 6-3. Every leg is given two degrees of freedom (DOF): the first to move the foot up and down, the second to move the leg back and forth. You can do the coupling using mechanical parts that connect the legs directly or drive the leg motors together, assuming you have separate motors to move them. About the motors: even if you have to give each leg two DOF (one to raise and lower the leg, one to move the leg back and forth) you don t necessarily need two motors per leg. In fact, you can give each leg two DOF with just a motor, using a particular cammed mechanism, or you can even move the couple of two-DOF legs on the same side with a single motor. The latter is precisely what happens in the NXT Turtle.

server will be offline for five minutes while it is rebooted. And while you compile your list of customers, it does not hurt to know who the executives are and which servers they are most dependent upon. When you start listing the customers, you should also start asking about the applications and systems those customers use, and the time of day they are being used the most. You may be surprised to find some systems that people consider to be relatively minor are used throughout the day, while other systems that are considered most important are used only once a month. There is an extra benefit to building this list: you get your chance to begin building a relationship with your customers. Chances are they will be flattered that you care enough to seek them out. Putting together your list gives you an excuse to reach out to your customers. Think of it as an ice breaker an easy excuse for the two of you to meet.

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Leading up to Google s introduction of Android, there had been long-standing rumors that Google was going to introduce its own phone, just like Apple did with the iPhone. In January 2010, they did exactly that, and made the curious choice to compete against other phone manufacturers in the Android OS phone market they d created. Figure 1 2 shows the Nexus One, the first official Google phone. Although it s made by HTC, the phone is branded and sold by Google.

Figure 6-2. Quadruped robot straight walking scheme In Figure 6-2e, the robot has all feet on the ground and the supporting area is wide, containing the COG of the robot (indicated as a star). This is the steadier state of the robot.

Is there anything special about the Nexus One Yes and no. It s a nice phone, and it runs Android 2.1 on hardware designed specifically for that purpose. It includes voiceto-text dictation, and it includes a nice GPS navigator for turn-by-turn directions. As an official Google product, it will likely be first in line for Android OS upgrades. That said, there are plenty of other Android offerings worth serious consideration. The Nexus One is no longer being sold by Google. The Nexus One was not a big hit with consumers, who prefer to play with phones before they purchase them, and Google shuttered the online Nexus One store in July of 2010.

Summary

Tom s time-of-day comment made me think back to when I used to work managing a data warehouse. We had a database that could be offline three weeks out of the month, and nobody would notice. It was a critical database, with a specific purpose. The workload just happened to be such that the database wasn t used three weeks out of the month. It sure was used during week 1 though. During week 1, it had better be up 24/7. The remaining weeks, it didn t matter so much. The moral Don t assume a correlation between how much something is used and how truly important it is.

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