Current List of Things to Do:

• Leaning Tower of Pisa (weight distribution) and Solidworks Model
• Update Twiki Page
  • Wrap up old data
    • Conclusions/ Observations
    • Post some trial data
    • What parameters didn't work well
    • What parameters seem to work well
    • Work to be done

Week 1 - June 21-June 25

• Test track data w/ accelerometer
• Brainstorm foot ideas
• Revise test track experiment sheet
• Familiarize with all test track parameters
• Propose questions on what a "good foot" is

Week 2 - June 28-July 2

• Refine test to get key foot characteristics (w/minimal tests)
• Analysis tools to ID what a "good foot" is
• 2nd Generation Foot Design

Week 3 - July 5-July 9

• Familiarization with new leg
• Test dactyl foot with new leg
  • Analyze dactyl foot for CMU
• Tools to ID what a "good trajectory" is
• Work on mountable feet
  • Dana and Miguel (for the test track)
  • Ji and Alan (for toybot)
• Help Miguel with running foot

Week 4 - July 12-July 16

• Do Lamellae Friction tests without claws (on new leg)
  • Eliminate the degree of freedom that allows the foot to rotate clockwise/counterclockwise about the ankle
  • The claws and the rotation about the ankle yield inconsistencies in the data
  • Make sure the distance of the claw to the crank is equal to that on the CMU leg
  • Optimize trajectory parameters
    • Fz is not constant because phi is constant
    • Make Fz constant by varying phi
    • Fx and Fy are approximately the same
    • Fy should be greater than Fx (something like 3:2 ratio)
• Do Dactyl claw tests (on new leg)
  • Unbent
  • Bent
  • Send results to CMU
• Work on mountable feet
  • Dana and Miguel (for the test track)
  • Ji and Alan (for toybot)

Week 5 - July 19-July 23

• Make new feet for CMU
• Test new feet for CMU

Week 6 - July 26-July 30

Week 7 - Aug 2-Aug 6

• Receive robot body
• 3rd round of trajectory tests

Week 8 - Aug 9-Aug 13

• 1st round of COMPLETE robot climbing tests

Week 9 - Aug 16-Aug 20

Week 10 - Aug 23-Aug 27

Ongoing List:

• SDM
• Familiarize w/ Matlab
• Familiarize w/ CAD (Solidworks)