Lab meeting in the morning. Third brainstorming session with Tony. Finalized a design strategy for a possible 2D gripper subject to a pulling force oriented in a generic direction. Coarse determination of the spine compliances required by the application. Integrated the stochastic distribution of the asperities on a surface to estimate the lifting capabilities of the gripper and the load sharing on the spines.
Second brainstorming session with Tony. Understood the spine-surface interaction and started modelling a possible gripper. Discussed about the preload to apply to spines and important design parameters in the rock grasping process.
Continued going through MuJoCo documentation. Started a google doc to summarize useful information about the software.
First brainstorming session with Tony and Brian to better understand the properties of he interaction between spines and a rough surface. Discussion about the Hao Jiang's Ph.D. thesis and William Roderick's bio inspired perching paper.
After discussion in the weekly meeting we decided that the simulation should not be overly detailed. Simulating the single microspine could lead to computation problems due to numerical singularities. Read a paper from Hauser et al. about the modelling of a spine unit as a contact patch with anisotropic friction properties. Spent some time reading through the MuJoCo documentation how to specify the friction properties of a contact pair in simulation.
Participated to Lab Meeting in the morning. Tried to understand better the XML script logic to set up a MuJoCo simulation. Tried to import a STL file from generated through SolidWorks to give a first trial to the simulation of a microspine.
Set up mujoco-py on laptop and did some tests to check functionality. Read a couple of papers on ReachBot and previous works on microspine grasping and gripper mechanisms.