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TWiki > Rise Web>ClimbingRobot > ClimbingConcepts > ClawConcepts>ArtificialTarsi (23 Jul 2003, MarkCutkosky)
-- ShaiRevzen? - 20 Jul 2003

I promised these sketches to Jonathan a while ago. I try to illustrate an interesting point in the way roach tarsi work:

  1. The sticky pads interact with the surface to create a little adhesion
  2. The tendon in the middle of the tarsus pulls the tarsal claws down
  3. The claws stick into the surface in a "near optimal" (more thoughts on that in ClawMechanics) angle

and presto no slipping!

My Berkeley lab time is quite scarce right now, but I'll try to get some hi-res pictures of this to proove my point smile

  • claw1.jpg:
    claw1.jpg

 
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