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TWiki > Rise Web>ClimbingRobot > LegDesign > StanfordTestTrack>SalsRiSETests (30 Aug 2005, SalomonTrujillo)

Sal's RiSE Tests

Static Test

  • RiSE is powered and holding motors using position control (Under the RiSE Force Control Mode)
    • Tripod configuration with the wings at 45 degrees
    • Crank at zero degrees
    • Wing and Crank gains: Kp = 10, Kd = 0.5
    • Front right, middle left, back right feet touching
    • Tail is also in contact
  • Wall is at 40 degrees from horizontal
  • Using sticky feet (EarlyFootDesigns)
  • The wall surface is Xerox printer paper

  • Recorded the forces for each foot as:
  X Y Z
Front-right 0.78 N -2.53 N -1.87 N
Middle-left -1.83 N -9.46 N -8.61 N
Back-right 0.60 N -6.67 N -6.37 N

-- SalomonTrujillo - 09 Aug 2005


  • Additional two static tests
  • Except the tripod was reverse to measure the Middle-right foot
  • Only right feet were measured
  • Feet have been cleaned since Aug 9, trial
  • Recorded the forces for each foot as:
  X Y Z
Front-right 0.88 N -1.81 N -1.73 N
Middle-right 2.25 N -9.64 N -9.89 N
Back-right 1.76 N -10.68 N -7.92 N

  X Y Z
Front-right 1.13 N -2.78 N -2.58 N
Middle-right 2.38 N -9.19 N -9.83 N
Back-right 2.31 N -8.59 N -7.79 N
  • Note: the Middle-right foot is going to have reversed forces in the X-direction from the Middle-left foot data
-- SalomonTrujillo - 29 Aug 2005


  • Series of statics tests
    • Six feet each (except the data was lost from two front foot trials)
    • Right feet only
    • Quick cleaning of feet using rubbing alcohol

Mean Result with errors:

  X Y Z
Front-right 0.42 ± 0.11 N -1.18 ± 0.68 N -1.26 ± 0.54 N
Middle-right 2.35 ± 0.31 N -9.63 ± 0.54 N -9.63 ± 0.12 N
Back-right 2.50 ± 0.52 N -9.57 ± 0.85 N -8.08 ± 0.29 N


Raw Data:
  X Y Z
Front-right 0.5271 N -2.1585 N -2.0184 N
  0.4779 N -0.8716 N -1.0835 N
  0.4169 N -1.0511 N -1.1918 N
  0.2746 N -0.6200 N -0.7358 N
Middle-right 2.4711 N -9.0733 N -9.5765 N
  2.3554 N -9.5635 N -9.8690 N
  1.9257 N -10.1576 N -9.5527 N
  2.8476 N -8.9587 N -9.6514 N
  2.3327 N -9.7781 N -9.5990 N
  2.1957 N -10.2553 N -9.5402 N
Back-right 1.9162 N -8.7363 N -7.7695 N
  2.1764 N -10.4291 N -8.1793 N
  2.2111 N -9.0506 N -7.8714 N
  3.3032 N -10.8441 N -8.5913 N
  2.4972 N -9.2388 N -7.9818 N
  2.9084 N -9.1345 N -8.0689 N

-- SalomonTrujillo - 30 Aug 2005

 
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