Stuff done and to do list:

• More notes on PerchingProgramIssues (if extended beyond a small, focused project) 17Oct08
• SU-perching.pdf: Perching proposal for Darpa, October 3rd 2008
• 2008-09-25_Notes_from_brainstorm.txt
• Picture of whiteboard (2008-09-25)

!!! PerchingFailures !!!

Proposals

• CyberPhysical systems Apparently not a good fit for our ideas (more network oriented projects)
• NSFRobustIntelligencePerching proposal (see NSFRobustIntelligence for reference)...

Overall Design Notes

• See OptimalDesigns

Control System:

• See PerchingAutopilot
• See PerchingThrustRollSysID
• See PerchingSensors
• Evaluate the controllers performances
• Figure out why washout doesn't work?
  • Try to do it separately (not fuse all of them)
  • Model it in simulink
• Use the remote joystick to input desired location/velocity instead of control surface commands (which are compensated by the controller anyway)

Suspension design

• See PerchingSuspension
• See AdeptSuspensionAnalysis
• Improve the friction tuning in the ankles
• Evaluate in Working Model or Matlab
• How much damping? What kind of damping? Do the optimum ratio change with change of approach speed? With change in the plane mass?
• Carbon fiber fabrication...

Landing/Takeoff from horizontal surfaces

• See HorizontalTakeoff
• See JumpingDesign
• See JumpingExperiments
• See LandingOnRoofs

Squeezing foot prototypes:

• See SqueezingFoot
• See OldSqueezingFootIdeas to see the older ideas about feet with opposable claws (from Sept. 04).

Landing experiments (reverse chronological order):

• See LandingExperiments
• See AdeptForPerching for instruction on using the Adept
• Get the Adept to work for testing the landing and suspension design
  • Make it throw a plane while it is moving
  • Test the force measurement on the Adept to evaluate the suspension
  • Create a "wall" surface for our experiment, reorganize the adept area

Other foot ideas:

• WetAdhesion - new 24 nov 08

Other Projects Elsewhere:

• See PerchingBirdOthers

Links

• See PerchingLinks
• See Taylor's Blog http://bdml.stanford.edu/twiki/bin/view/Main/TaylorsSummerBlog

Kinematics Analysis:

• See PerchingKinematics

-- AlexisLD - 18 Jan 2007