# Heart of the Robot #3

PistonRobot
This is another drawing where you really need to download it then open it so you can look around. I measured each piston, then made a column equal to that piston's displacement. To get the net displacement of a piston from one robot stance to the next then one subtracts the two columns for that piston from those two stances for the robot. I did this for the piston on the left leg of the robot that controls rotation of the left leg about the left hip. Then the total cubic inches of that one piston's motion is shown. Note that one cycle of the 22 stances is shown, during one cycle the robot moves 5' 9 1/16" forward. This means the Heart of the Robot will need to pump this amount of fluid to that left hip rotation piston for each cycle of the 22 stances. And at 3 mph (a soldier walking), one can calculate from this motion per cycle of 69 1/16th inches, the rate of cycling of the 22 stances, giving the time need for the fluid volume sent to that piston. Add this up for all pistons for both legs and one gets how much fluid needs to be pumped per unit time in order for this robot to walk along with a soldier. pretty cool. I'm working to get all the values in. #heart_of_the_robot
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