TWiki > Rise Web>NewFootDesignsJune04? >NewFootDesignsSept04 (06 Apr 2007, MarkCutkosky)

New Foot Designs starting in Sept. 04

This page is a continuation of the "advanced foot" development documented in NewFootDesignsJune04?

  • See FootDesign? for other foot designs.

Latest advanced climbing feet, designed by Sangbae

  • first SDM foot Sangbae made, with 2 spines:

  • Sangbaev1side.JPG

  • Showing how batches of the toes are made. This is the second version of the foot:

These feet have 2 spines per toe to increase the probability of a spine catching the wall. The spines are independent in the normal-to-the-wall direction, but not in the axial direction. There are plastic dividing walls to keep the toes from getting tangled in each other. These feet use 20A flexures to support the toes at the end, instead of string as in Alan's versions.

Advanced climbing feet by Alan:

  • Alanv3:
    Alanv3iso.JPG Alanv3bottom.JPG

This model uses a piece of metal to connect the spine and flexure, and integrated dividing walls to keep the toes from getting tangled. String at the front of the toes supports the toes while allowing extension and normal compliance.

  • First SDM foot that Alan made:
    Alanv1front.JPG Alanv1iso.JPG

This first version of an SDM foot had problems because the center of rotation was too high and too close to the spine. It doesn't grab the wall very well.

  • v2 = foot with rubber bands and brass:
    Alanv2bottom.JPG Alanv2iso.JPG Alanv2top.JPG

This foot uses little slots for the individual toes, and keeps the toes in position by pushing down on top of them with flexible plastic pieces.

-- AlanAsbeck - 01 Oct 2004

Presentation by Alan about climbing foot design

Grabbing foot design idea using a back claw

-- YongLaePark - 31 Aug 2004
  • Current foot designs for both ToyBot and RiSEbot have only front claws which allow the robot only to hang on the wall, so the foot itself cannot grab or hold the wall independently.
  • However, it is necessary for the robot to have grabbing motion for more stable climbing.
  • A few simple constraints were considered while designing a grabbing back claw.
    • Back claw should not obstruct the movement of the foot when the foot is not engaged on the wall.
    • Back claw should be easily retractable when the foot disengages.
    • Back claw should be actuated only after the front claw catches the wall.
    • Additional actuator to move the back claw should be avoided.
  • Foot design:
  • Prototypes:
  • Video clip (how it works):

This movie needs Mediaplayer version 9. How well does the claw work on a hard surface like concrete instead of cork? Hard surfaces are where we especially could benefit from the extra security that a rear claw might provide. Maybe even climb an overhanging surface??? -Mark %ENDCOMMENT%

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