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:

(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
Zero Val 119 139 146 138
Deg/Val 0.5 -0.5 -0.5 0.5
Down 112 164 181 78
Nominal 147 129 136 113
Up 172 112 100 139
Down 65 203 50 219
Up 186 91 177 69

-- BarrettHeyneman - 21 Jun 2006

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