Pictures from Case Western Reserve University's ShowCASE event, 16 April 2009

• hexapod_climb.avi: Hexapod climber - cool servos run via serial commands. Feed-forward control via Matlab real-time. (13.2MB)

• holk-cruse-like-leg.avi: Holk Cruse-like limb. Used to test out theories on Holk Cruse-like control systems for limbs. (3.3MB)

• Big WHEGS - that tower popping out the top is pretty cool - it is three sections that unzip at the bottom and each one rolls onto a separate spool. The thing zips together as it goes up to around 8 feet in height:
  

• On main motor for propulsion. Tiny servos for steering. Medium motor for body articulation:
  

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• Mini WHEGS climbs hip-height obstacles:
  

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• "For historical purposes":
  

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• Close-up of drive train. That cyclinder to the left of the encoder provides rotational compliance:
  

• Zipper thingy. Need to find the real name of that:
  

• No compliance on these legs. They have other legs with compliance - but run into issues with being too bouncy:
  

• Leg prototypes - combination of FDM and machining:
  

• Insides of lawnmower robot - powered by a Mac Mini! (actually, powered by National Instruments - the mac mini is for vision processing):
  

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• Brake cable housing!:
  

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• Cool servos - commands run on a serial bus:
  

• Gecko patches - non-directional - made in germany:
  

• Carbon fiber airplane w/ retractable wings. The wings retract for moving on the ground via a whegs-like thing that wasn't attached here. This thing really needs perching capability: