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HSR Web>HumanSafeRobot > MeetingNotes>MeetingNotes20080405 (30 Jul 2008, DanAukes)
HSR Web>HumanSafeRobot > MeetingNotes>MeetingNotes20080405 (30 Jul 2008, DanAukes) Four areas of work were identified for the next version of the Human Safe Arm.
Laurel will look into the amount of data that will transmitted from the skin
Seokchang will work on control of the valves with Dongjun
Kuan will continue working on DM2 in anticipation of the May demonstration
John will work on manifold design
In response to GM's request to use Linux + Xenomai, there is hesitancy to switch from QNX because of the history, experience, and the wealth of legacy code available. If there is a large need to use Linux + Xenomai, then a conversion can be done at the very end.
-- SamsonPhan - 07 Apr 2008
| Area | Issues | June Goal |
|---|---|---|
| Control | valving control,characterization | Better pneumatic characterization |
| Skin | Skin Materials, sensor type, resolution, connectivity to arm | Cast first generation skin with some kind of sensor 1 cm apart, preliminary testing |
| Structure, Bus, Power & signal | How to route power & signal though joints, How to integrate compactly & robustly into arm | 1rst gen prototype with integrated wiring/ bus using epoxysoft polymer, etc |
| Wrist (& End Effector) | Stiff & precise or sensate & compliant,How many indpt DOF,What max/min size?,What max grasp Force? | Find/build/retrofit a good first solution for initial requirements |
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