Stickybot 2 (Sb2)

started: 05 Jun 2006, MarkCutkosky

Sb2 is a close sibling of StickyBot. Design modifications include:

new feet with toes that are less splayed, the better to utilize directional adhesion
new upper limb design that is more robust and better suited for force control by monitoring compliant deflections.
new lower limb and ankle design with less potential for cable interference

More details as we get a chance to post some photos and CAD renderings. Meanwhile, here is a first video of Sb2 climbing with an open-loop gait:

Sb2:

(high resolution version attached below)

Gait Development

Here are servo values which seem to give good contact for SB2's feet. They can be used directly in GPlan 6.0 (GaitPlanner? )

Alternatively, you can download this GPlan settings file to start from. These settings are for a fast trot which worked very well on glass. The generated *.DAT file is here to open with the PC ServoDriverController? and upload or emulate on SB2.

Last updated: 6/26/06

Leg	Leg 0	Leg 1	Leg 2	Leg 3
Stroke
Zero Val	119	139	146	138
Deg/Val	0.5	-0.5	-0.5	0.5
Wing
Down	112	164	181	78
Nominal	147	129	136	113
Up	172	112	100	139
Foot
Down	65	203	50	219
Up	186	91	177	69

-- BarrettHeyneman - 21 Jun 2006

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