• Name: Miguel Piedrahita
• Email: miguelp@stanford.edu
• Company Name:
• Company URL: http://bdml.stanford.edu
• Location: StanfordOffice
• Country: USA

Projects

• FootDesign - Development of climbing feet for the RiSE platform.
• StanfordTestTrack - Procedures and results from testing feet on our test track.
• FootManufacturingDetails - info on successful clearances and dimensions of feet and ankles
• FootFab - Documentation of the procedures used for SDM manufacturing of climbing feet.

To Do...

• find good "realistic" climbing surface
• redesign ball joint foot for realistic surface
• machine and pour more lamellar pads
• order more hole punches

Other Notes

• Possible source for 3mm ball studs: http://www.aabstyle.com/body_jewelry/112/BODYJEWEL/33.html

Quals notes:

• Basic principles of detachable adhesion to penetrable and smooth, non-penetrable surfaces, in context of climbing robot.
  • Penetrable
    • Penetrate with minimal force by aligning spine with angle of attack to surface
    • Angle of attack should be chosen to provide desired shear/normal force ratio
    • Use minimum necessary # of engagement pts, based on shear/normal force requirements
    • maintain constant spine orientation when loading
    • align spine with direction of withdrawal
  • Smooth, non-penetrable
    • Minimize moments acting to unpeel foot pad from surface
      • decouple foot pad from leg through universal joint
      • apply loads to foot such that they pass through center of foot pad
    • Maximize surface contact area to move away from Coulomb friction regime
• Application of these principles in design of feet, using SDM to achieve specific implementations of concepts not possible otherwise.

Classes Winter

• ME393 - seminar, Wed 10:00 AM - 10:50 AM
• MED255 - ethics seminar, Thu 05:30 PM - 06:30 PM
• CHEMENG459 - Frontiers in Interdisciplinary Biosciences, Mon 03:15 PM - 04:35 PM, Clark Center S360, Thu 04:15 PM - 05:30 PM, Clark Center AUD
• CHEMENG350 - principles of cellular systems, MWF 8:35-9:50, ChEConfRm?
• E207A? - Modern Control Design, 3 units, Mon Wed 08:30 AM - 09:50 AM, SkillAud?
• E209A? - Nonlinear control, 3 units, Tue Thu 11:00 AM - 12:30 PM, Skill193
• ME326 - Telerobotics, 3 units, Mon Wed 01:15 PM - 02:30 PM, TermanEngr? 101
• ME338A? - Continuum Mechanics, 3 units, Tue Thu 11:00 AM - 12:15 PM, SkillBldg? 191
• ME382A? - Biomedical Device Design and Evaluation I, 4 units, Mon Wed 02:15 PM - 03:30 PM, MechEngrAd? 127

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