• Embed claws in wax mold
• SDM feet

08/20/04 - Friday

• Cutting and bending claws
• Prepare and plane new mold

08/19/04 - Thursday

• Ordering parts from McMaster
• Shrinkwrapping m2 screws to coat screws

08/18/04 - Wednesday

• Meeting with Mark
• Taking haas tool measurements
• Testing mold penetratiblity

08/17/04 - Tuesday

• Rise Meeting
• Lab cleanup
• Drain the oil from the Enerpac Power Supply
• Looking for available m2 screws for Moto's foot/ankle design
• Tests of CMU foot/ankle on test track with Trey

08/16/04 - Monday

• Claw sharpening for the foot

08/13/04 - Friday

• Solidworks modeling of foot/ankle
• Moto's foot/ankle design
  • Talked about his design
  • Talked about plans to manufacture the foot/ankle
• Claw sharpenung for the foot
• Set up for MERL BBQ

08/12/04 - Thursday

• Foot/ankle designing
  • Feedback from Moto
• Finalized foot/ankle design

08/11/04 - Wednesday

• Meeting with Mark
• Finding the center of mass of the leaning tower of Pisa.
• Foot design brainstorming

08/10/04 - Tuesday

• Foot/ankle design brainstorming
• Talked to Moto
  • Summer plans
  • Foot/ankle designs

08/09/04 - Monday

• Foot/ankle design brainstorming
• Familiarization with SolidWorks *Modifiying current ankle

08/02/04 to 08/06/04

• Making plans for the rest of the summer since Miguel is going on vacation
  • Talk to Will about new foot designs
• Trying to get SolidWorks to work on the computers
  • Problem with authorization codes
• Brainstorming foot designs
• Familiarization with SolidWorks

07/30/04 - Friday

• Toybot Testing

07/29/04 - Thursday

• Toybot Testing

07/28/04 - Wednesday

• Update Twiki pages with past week's work
• Reading Twiki documentation for test track

07/27/04 - Tuesday

• Reading Twiki meeting notes from the past week

07/26/04 - Monday

• Testing new feet on test track
  • Taking video
  • Finding successful and unsuccessful foot orientations/trajectories
• Telecon

07/23/04 - Friday

• Assembly of ankle and foot parts
• Reinforcing parts of the foot and ankle flexture with epoxy and superglue
• Ship off feet

07/22/04 - Thursday

• Telecon
• Making new feet for CMU
  • Modifying feet by shaving them down in size to avoid running into each other
  • Bending claws
  • Removing SDM parts from wax mold

07/21/04 - Wednesday

• Making new feet for CMU
  • Mounting a new wax block for SDM
  • CNC and SDM of ankle and ankle parts

07/20/04 - Tuesday

• Rise Meeting
• Telecon
• Making new feet for CMU
  • Making claws
  • CNC and SDM of new feet
  • Making flextures
  • Making sticky pads layer

07/19/04 - Monday

• Reviewing videos of feet tests Miguel and Trey did over the weekend
• Telecon
• More testing on the test track with video

07/16/04 - Friday

• Familiarization with trajectory parameters
• Made table for testing feet
  • Which parameters should we vary
• Fixed Test Track
  • Adjustment of the earplug spring to change the equilibrium position of the leg
  • Cut off wood that was inhibiting compliance in the z direction

07/15/04 - Thursday

• Modifications to the foot
  • Additional mounting holes to allow mounting at different locations
• Mounted our 3-claw wooden foot
• Familiarization with testing for the new test process
• Preliminary testing for the foot

07/14/04 - Wednesday

• Meeting with Mark, Dan, and John
• Machined wedge to facilitate mounting the foot parallel to the wall
• Teleconference
• Familiarization with the test track
• Preliminary foot testing

07/13/04 - Tuesday

• RISE Meeting
• Ideas for improving feet
• Teleconference
• Machined new prototype feet
• Familiarization with the test track
• Calibration of test track
• Modified SolidWorks model
  • Added new lower leg
  • Added a wedge to make foot parallel to the wall

07/12/04 - Monday

• Foot Design
  • Simple force plate testing of different prototype feet by hand (test track isn't up yet) * Data to be placed on chewie
  • Data Analysis
  • Ideas for improving feet from testing
  • New foot design idea with curved claws
• Determined the minium adhesion force required by the robot

07/09/04 - Friday

• Pin adhesion data from yesterday
  • Plotting
  • Analysis
  • Twiki update
• Foot Design
  • Solidified objective - working foot on a cork surface
  • General testable foot design
  • Helped machine a wooden testable prototype foot with Miguel

07/08/04 - Thursday

• Lab cleanup
• Inspection of Chewie's fan noice
  • Attempts to replace fan/ power source
• Cleaning tools for the HAAS machine
• Testing adhesion of pins on cork
  • Taking data
  • \\chewie\users\Climbing\TestTrackData\Pin_Adhesion_Test

07/07/04 - Wednesday

• Meeting with Mark
  • Clarify objectives
  • Observations of trends in data
• Data analysis
• Leg Meeting
• Cleaning tools for the HAAS machine with Miguel

07/06/04 - Tuesday

• RISE Meeting
• Data Analysis on Soft Lamellae Foot
• Watched Miguel work on the running foot
  • Conversion from SolidWorks to Unigraphics
  • Creating toolpaths on Unigraphics

07/02/04 - Friday

• Finished retesting specific sets of the soft lamellae foot
• Mounted the Dactyl foot
• Varied wing angles for both the dactyl foot so it has the same normal force as that of the lamellae foot
  • This eliminates the normal force as a variable in comparing the two

07/01/04 - Thursday

• Finishing touches on prototype foot
• Foot Design Meeting
  • Will work with Miguel on a foot that can be mounted on the test track
• Added a ruler to the test track - to measure displacement
• Data analysis
  • Identified a few data sets that yielded high forces in the y direction (Sets E, F, H, K)
• Troubleshooting with the test track
  • Links came loose
  • Problems with the accelerometer's flex cable

06/30/04 - Wednesday

• Data Analysis
• Worked on summer schedule
• Worked on the second generation prototype foot with Miguel at the machine shop

06/29/04 - Tuesday

• RISE Meeting
• Redid Data Analysis with Trey's new code
  • \\chewie\users\Climbing\TestTrackData\lamellae foot\soft
  • \\chewie\users\Climbing\TestTrackData\lamellae foot\hard
• Worked on foot designs with Miguel
  • Finalized foot design

06/28/04 - Monday

• Talked to Trey about the summer schedule
• Worked on improving foot designs with Miguel
  • Worked primarily on the rotating foot design (Rotational DOF For Multiple Claw Attachments) NewFootDesignsJune04
• Tested the Dactyl foot
  • Did 4 tests with varying parameters - the foot slipped in all cases

06/25/04 - Friday

• Brainstormed and experimented on foot designs with Miguel all day
• Played around with quickly prototyped feet
• Thoughts in brainstorming set goals of trying to achieve high friction on:
  • Each surface (cork, glass, and concrete)
  • On two of the three surface
  • On all three surfaces

06/24/04 - Thursday

• Watched Gecko Video
• Experimented with test track setup by modifying different parameters
  • i.e. period, speed, amplitude, offset, etc.
• Output data for both hard and soft lamallae foot into graphs with Trey's code
  • Note: Graphs and links will be posted soon

06/23/04 - Wednesday

• Meeting with Mark to talk about the direction of research
• Foot design meeting
  • Paired up with Miguel for foot design work
• Tested hard-lamallae foot with new accelerometer

06/22/04 - Tuesday

• RISE Meeting
• Accelerometer rundown with Alan
• Tested soft-lamallae foot again with accelerometer
• Finished testsfor soft-lamallae foot
• Started testing for hard-lamallae foot
  • Something happened and too much voltage went through the accelerometer
  • High voltage burned out the accelerometer and invalidated all of the data for the hard-lamallae foot
• SolidWorks modeling of the Leaning Tower of Pisa

06/21/04 - Monday

• SURI Kickoff Event - Introduction/Orientation
• Talked to Mark about simple CAD diagrams for freshman introsem
• Solidworks tutorial from Miguel
• Walkthrough data test taking with Trey
• Recalibrated test track and foot (did testing at amplitude=20 and offset03 = 18)
• Took data
• Finished testing on soft-lamallae foot

Spring Quarter (Weekly Meetings with Emily)

• RPL Tour
• SDM Walkthrough
• Labview Reading and Tutorials
• Taking data on the test track

-- DanaUng? - 30 Nov 2004