Stanford Trajectory Test and Analysis

Objective

• Find a good trajectory by defining RiseLegClimbingParameters for better climbing

• A good trajectory can be defined as one which allows the leg to have:
  • High attachment adhesion force (normal force): +z force right after claw engagement to the wall
  • High lateral force : +x force during climbing
  • High climbing force: +y force during climbing
  • Low detachment adhesion force: +z force during detachment

1. Attachment Adhesion Force Test

• Goal: find good attachment parameter values which maximize the +z force during detachment right after claw engagement to the wall
• Test Plan: measure the +z force changing related parameters
• Related parameters:
  • AttDF, AttBetaOffset, and AttBetaSweep
• Fix all the other parameters as default
  • P=1, StaDF = 0, DetDF = 0,
  • StaBetaSweep = 0, DetBetaSweep = 0,
  • AttWingOffset = 75, AttWingSweep = 20, StaWingSweep = 0, DetWingSweep = -20,
  • Kp = 20, Kd = 1

2. Lateral Force and Climbing Force Test

• Goal: find good stance related parameter values which maximize the +x and +y forces during stance
• Test Plan: measure the +x and +y force changing the related parameters
• Related parameters:
  • StaDF and StaBetaSweep
• Fix all the other parameters:
  • Attachment parameters (AttDF, AttBetaOffset, and AttBetaSweep): as specified from "1. Attachment Adhesion Force Test"
  • P=1, DetDF
  • DetBetaSweep
  • AttWingOffset = 75, AttWingSweep = 20, StaWingSweep = 0, DetWingSweep = -20
  • Kp=20, Kd=1

3 Detachment Force Test

• Goal: find good detachment parameter values which minimize the +z force during detachment
• Test Plan: measure the +z force changing the related parameters
• Related parameters:
  • DetDF, StaBetaSweep, and DetBetaSweep
• Fix all the other parameters:
  • Attachment parameters (AttDF, AttBetaOffset, and AttBetaSweep): as specified from "1. Attachment Adhesion Force Test"
  • Stance related parameters (StaDF only in this case): as specified from "2. Lateral Force and Climbing Force Test"
  • P=1
  • AttWingOffset = 75, AttWingSweep = 20, StaWingSweep = 0, DetWingSweep = -20
  • Kp=20, Kd=1

-- YongLaePark - 22 Jul 2004