Sal has some slides that explain the scheme and interesting issues associated with it for a setup with a differential that connects 2 motors to 2 DOF and we could talk about them at next RiSE meeting if people would be interested. -mrc

RiSE_Climbing_Trujillo_July11_07.mov

• The entire video is real-time.
• For the first segment, the robot is pushed nearly to its maximum. The motors are commanded up to 15 volts during this climb.
• For the side-by-side comparison, please ignore the relative speeds since both gaits are being driven below their maximum capabilities.
• In the final segment, the tree is actually vertical (it is a trick of the camera that it seems to be leaning to the left.) The downward gravity vector is detected using the IMU accelerometers.

RiSEState-BasedVoltageControl.ppt

• This presentation currently lacks explanatory text. I will add text for a more stand-alone presentation in the coming week.
• The "Gait State Machine" slide is animated and must be viewed in slide show mode.

-- SalomonTrujillo - 13 Jul 2007