walkabout day 13

Approaching the two week mark and it's all beginning to feel normal.

Following this 'mornings' maid-avoidance walk I worked on Walker for a few hours. I found that there is a significant difference in data behavior between a slippery table top and one covered by a bath mat -- my only available flat&frictioned surface -- whereby I (or my progeny) may be able to tell the difference between walking and stalling, such that, bathmatfully, we get this data (the first lump is the startup-standup):

 motor current used while walking

The yellow and blue lines are from one diagonally synchronized set of motors and the cyan and magenta are the other diagonal set. The kinda peaks to about value 60 are the actual move forward actions (around 'time' 80, 165, and 200 for instance) and the other lumps are leg position resettings. So (one can) see that the move-my-body motions use a bit more power than the rest. The story on acceleration is less clear...

The synchronized accelerometer readings

However, compared to not getting anywhere, we may be able to get somewhere in automata land:

running into a brick wall, motor currents

and relevant accelerometer readings

On a frictionful surface the motors use way more current while stalled, and are out of sync -- c.f. the yellow/blue and cyan/magenta disjuncts vis the first graph. But the acceleration is still equivocal...until we do some preliminary statistics. Then we find that the average of good-walking acceleration values is about twice that of the stalled-in-place, so there may be some room for educated distinction here.

After making this great break-through I went for a short sunset walk on the promenade:

Another day in paradise at the Santa Barbara Pier

And then to dinner down the street at Toma. Another swell Italianate experience. Enhanced by the bar sitting experience. Joined by a local environmental planner and a, part time, local, mental, resident. Somehow I seem to attract a particular incomprehensibly loquacious sort of personage. All made more than rightly right by a slightly +1 glass of Alexander Aqua di Vita Grappa (not available online) -- selected on my part by bottle attractiveness -- for which the bartender awarded me the (subsequently empty) bottle.