Demonstration Platform

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Demonstration Platform
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Engaging-disengaging scheme
engage
disengage
High torque required?
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Bending adhesion
PSA
compression
Tension
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PSA toybot

• Number of DOF- 10
• Hip joint servo - 6
• Main thrusting - 2
• PSA peeling 2
• Actuation scheme
• Servo driven push-pull cable
• Gait type alternating tripod
• Weight - 200g

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(No Transcript)
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2 DOF legs
-Key point Flexible cable without sheath can
not push hard Main power
transmission - pulling
2DOF per leg
Front leg (pull -gt pull)
Rear leg (pull -gt push)
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Servo motor
PSA push-pull cable
Main thrusting DOF push-pull cable
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Engagement
Disengagement
PSA
Push-pull cable
Non-sticky pad
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Problems..

• Actuator..
• Foot placement scheme
• Leg position

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Leg actuation

• Actuator
• - Is servo motor the best selection?
• - What is muscle-like actuator?
• - How do we control compliance in power
  transmission path ?

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Sensors.
?

• Do we need sensor?
• Body pitching, rolling..
• Foot attach detection
• Optic sensor? Gyro?
• What type of CPU do we need ?(Virgilio)

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Leg interaction
- How do we control Ground reaction force to
maximize stability
?

• Do we need force sensor on foot?
• How do we accommodate difference among legs
  stroke?

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Leg position

• Alternating tripod?

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Insect
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Questions..

• What weight range is reasonable for Climbing
  robot?
• What size ?
• How do we optimize weight/ power ?