Walker

Walker is an experiment in using a simple mechanism with appropriate sensors to learn how to do something. The first video below is a proof of concept (proving to myself that it can actually walk without needing articulated legs). The eventual plan is to use the sensors to establish a gait and notions of having bumped into things in order to respond.

The sensors detect each of the four motors' current, or power used, and three axes of acceleration, i.e., motion. So the idea is to figure out how to move, avoid objects, and minimize the amount of power used in doing so.