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Demonstration Platform

Demonstration Platform. Engaging-disengaging scheme. disengage. engage. High torque required?. Bending adhesion. PSA. compression. Tension. PSA toybot. Number of DOF- 10 Hip joint servo - 6 Main thrusting - 2 PSA –peeling – 2 Actuation scheme

timothy-davidson
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Demonstration Platform

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  1. Demonstration Platform

  2. Engaging-disengaging scheme disengage engage High torque required?

  3. Bending adhesion PSA compression Tension

  4. 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

  5. 2 DOF legs -Key point : Flexible cable without sheath can not push hard Main power transmission - pulling 2DOF per leg Front leg (pull -> pull) Rear leg (pull -> push)

  6. Servo motor PSA push-pull cable Main thrusting DOF push-pull cable

  7. Engagement Disengagement PSA Push-pull cable Non-sticky pad

  8. Problems.. • Actuator.. • Foot placement scheme • Leg position

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

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

  11. 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?

  12. Leg position • Alternating tripod?

  13. Insect…

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

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