Materials for 08 Sept. RiSE Telecon

Stickybot Design (partly review)

• Body
• Limbs
  • limb compliance and sensor
• Patches
  • More about patches, latest manufacturing process
  • SEM figures discussion of findings about sharpness, wear, stickyness
  • Test results from Dan Santos (isotropic versus anisotropic), including the test procedure and why it's done the way we're doing it.

Stickybot control

• Reminder of isotropic versus anisotropic stuff from JEB and its ramifications for control
• Stickybot control concept, gait planner, feedback (backward ref. to compliant limb/sensor
• Test results on force plate anisotropic versus isotropic
• Video clip: Cartesian stiffness control