• Name: Ji Lee
• Email: jiheun@stanford.edu
• Company Name: Stanford SURF
• Company URL: http://bdml.stanford.edu
• Location: StanfordOffice
• Country: USA
• Comment: Summer undergraduate research program

Test Track Data

DanaJiSchedule

Friday June 25

• finshing up test track tests
• brainstorming for foot design with Alan
• prototyping foot design

Monday June 28

• updating Test Track data page
• working on the foot prototype with Alan for Wednesday
• coming up with a method of analyzing the test track data
• meeting with Trey on schedule for the summer
• meeting with Miguel, Alan and Dana on foot design

Tuesday June 29

• weekly 9am meeting
• completed prototype with Alan; took pictures
• plotted, printed out the data from the test track experiment
• dana put up the data on twiki
• updating the Test Track data page

Wednesday June 30

• analysed the test track data
• answered questions on the page
• to machine shop with miguel and dana

Thursday Jul 1

• Retest on lamellae feet
• Foot design meeting

Friday Jul 2

• Finished up lamellae feet retests
• mounting dactyl foot
• calibrated the parameters for dactyl foot

Monday Jul 5

• Meeting with Alan about foot design
• brainstorming and prototyping

Tuesday Jul 6

• General group meeting
• foot prototype

Wednesday Jul 7

• undergrad meeting at 9am
• plotted data, updated Twiki page
• foot prototype

Thursday Jul 8

• lab clean up
• foot prototype
• one legged toybot completed

Friday Jul 9

• foot prototype
• two legged toybot completed
• toybot testing on rough wall
• video: ToyBot04

Monday Jul 12

• foot prototype
• ordered springs (to arrive tomorrow morning)
• brainstorming for how to add a second degree of freedom on the toybot

Tuesday Jul 13

• weekly meeting
• shopping for supplies
• more foot prototyping - final platform with four legs and 6 servos

Wednesday Jul 14

• meeting: new RiSE test track
  • Reminder: record all test track parameters (5 parameters: distance between the test track and the force plat; the distance of the tip of the claw to the screw hole in x', y', and x'; the angle the track is at initially)
• completed foot prototyping

Thursday Jul 15

• two more white tube feet
  

• changed to stiffer cables for the lower cables
• modified servo
• testing
• alan wrote a program for interpolation for Virgilio's Servocontrol.
• completed toybot
  

Friday Jul 16

• minor modification on toybot
• calibrated positions of the servo with Virgilio's Servocontrol (on: \\chewie\users\JiLee\Sequence1)
• interpolated using Matlab.

• edited the calibrated points using Servocontrol, matlab (on: \\chewie\users\JiLee\OutputSequence4)
• saved the data onto the circuit board
• video of autonomous Tony V3 climbing take 1 (ToyBot04)
• video of autonomous Tony V3 climbing take 2 after fine tuning the positions (ToyBot04)

Tuesday Jul 20

• more videos on different surfaces
• tried out different trajectories (on: \\chewie\users\JiLee)
  • Sequence5C? : trajectory specific for rather smooth surface/ more circular trajectory while detaching/ greater distance of scraping down while attaching
  • Sequence6: trajectory specific for rather rough surface
• video editing

Wednesday Jul 21

• made the cover for the toybot
  
• reinforcing the toybot parts
• revised trajectories (on: \\chewie\users\JiLee)
  • Sequence5Cfast? : Sequence5C? made faster
  • Sequence6fast: Sequence6 made faster
• videos (ToyBot04)
  • pebbled wall
  • felt surface
  • stucco wall
  • relatively smooth MERL wall

Thursday Jul 22

• made the toybot to climb 4.3 times faster by changing the trajectory.
• video editing
• toybot repair

Friday Jul 23

• putting feet together to be shipped out
• video editing
• brainstorming for dry adhesive feet

Monday Jul 26

• video editing
• put together rough draft of slides for presentation
• brainstorming for dry adhesive feet

Tuesday Jul 27

• brainstorming
• quick prototyping
• helped out on stickybot

Wednesday Jul 28

• built the stickybot
• programmed sequence for trajectory, however, revision of the toybot design was required

Thursday Jul 29

• more video shooting- climbing all the way up the stucco wall
• editing

Friday Jul 30

• toybot repairing
• video shooting

Monday Aug 2

• lab clean up

Tuesday Aug 3

• weekly lab meeting
• brainstorming

Wednesday Aug 4

• design meeting- presentation by Sangbae on the findings on stickybot
• discussion on future direction of toybot
• scheduled meeting on Tuesday at 1:30 pm for design brainstorming

Friday Aug 6

• quick meeting with mark on montana review
• general overview of what is expected for the august demonstration

Tuesday Aug 10

• weekly lab meeting (presentation done in Montana)
• brainstorming for 2nd version of spinybot
• design meeting at 1:30pm - more robust manufactured feet/ various ideas for foot actuation
• spring order to be made

Wednesday Aug 11

• foot prototyping
• brainstorming

Thursday Aug 12

• finished up the 2-page report
• more foot prototyping

Friday Aug 13

• foot prototyping

Monday Aug 16

• solidworks modelling
• foot prototyping (toes)

Tuesday Aug 17

• lab clean up
• tried to use the haas machine but broken
• manually machined the blue wax mold for SDM
• brainstorming for attaching the rubber band
• prototyping

Wednesday Aug 18

• solidworks modelling
• poured polyurethane to cure

Thursday Aug 19

• took the cured part off the mold by machining
• made the foot