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In this introductory chapter, you saw various approaches to bipedal walking. You were shown some startup ideas that might shed light on the mystery of how to develop a biped that not only walks, but can also turn. To make a biped that walks without resembling a drunken sailor (and that is not at risk of falling down with every step it takes), the clever designer should try to bind the COG projection inside the area supporting the feet. You should do this during every phase of the walking cycle, when both feet are touching the ground and when one of them is in flight phase, leaving the other to support the whole robot s weight. This condition is essential for creating a biped without advanced sensors such as accelerometers or gyroscopes. Such a robot is a static one, because dynamic effects are not taken into account. Stability is guaranteed only by hardware structure, with no need of sensor feedback. In the next chapters, you ll create three bipeds using all these techniques.

One way you can narrow your choices is by deciding if you re a keyboard or a touchscreen person. Personally, I m a touchscreen person, but I ve known many people that can t stand to enter text without a physical keyboard on their phone. Keyboard: If you feel uncomfortable with virtual keyboards, such as those on the iPhone, you should go with a keyboard model. Keyboards can slide out, such as those on the T-Mobile G1 and the Verizon DROID, or they can flip out like the one on the Motorola BACKFLIP.

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and thus the publishing industry is often used to describe replication concepts. So the term publisher means exactly what you would expect: someone who publishes information, like a newspaper. A distributor would be someone who distributes the newspapers to the people who are subscribers. Simple enough Great, now let us have a look at the different types of SQL replication.

he hunchbacked biped described in this chapter fits our educational purposes perfectly. By building it, you ll get to see in practice all the theoretical tips, tricks, and rules explained in 1 about the stability of biped robots. I decided to call this biped Quasimodo (after the hunchback of Victor Hugo s famous book Notre-Dame de Paris), because of its particular shape and the funny way it walks. When you build it, you ll see what I mean. You can get an idea of how Quasimodo looks in Figure 2-1. I recommend that you read the following sections with a bookmark in 1, as you ll see that the practical examples of this chapter and the theory that lies behind them (in 1) correspond. Throughout this book, in chapters where a model is being built, the chapters will be organized the same way. The first part of the chapter will discuss key features of the model, and its overall function; the second part will discuss the program that has been created to make the model run; and the third part shows the building instructions, part by part, so that you can create the given model yourself.

Keyboards add bulk to a phone, but they re nice to have around when you need them. Even if you have a keyboard, you can still use the virtual keyboard if you choose. No Keyboard: Ditching the keyboard keeps the phone slimmer and often means you ll get a better-quality screen. It also means you have less to go wrong with your phone physically. The Google Nexus One, Xperia X10, and HTC EVO all skip the slide-out keyboard. The HTC EVO even allows you to do part of your text entry with your voice. NOTE: Before you settle on a phone model, make sure you try typing a significant chunk of text in the store. Does the keyboard respond well Are the keys easy to reach Do they light up in the dark Likewise, you want to make sure virtual keyboards are responsive and large enough to accommodate your fingers.

Quasi (to his friends) is an interlacing legs biped, the simplest approach you can adopt for a biped When designing such a biped, you might start thinking about the leg shape and the cammed mechanism needed to step forward You can choose two paths: should the cams be aligned in a horizontal or vertical position (as shown in Figure 1-4c and d, respectively) Placing the geartrain on a vertical beam yields a much higher and more unstable biped, because the motor and the NXT would be placed in a vertical position It would be more difficult to design the structure to have the NXT center of gravity (COG) inside the feet area.

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