• RiSEMasterSlide.ppt: Master slide for RiSE

• IntegrationNotes - Notes for the platform integration overview

• StanfordIntegrationSlides_v02.ppt: First stab at slides showing platform integration

• TonyV3Aug3bMark200kbps8fps.avi: DivX version of the video, 2nd draft

• TonyV3Aug3bMark_Sorenson2.mov: Quicktime version of the video, 2nd draft

• toybotslides.ppt: Slides for the Tony Toybot --Alan and Ji

• AllFootDesigns.ppt: Slide showing all feet designs/prototypes so far --Alan

• Michele Lanzetta's Quantitative Surface Analysis slide

• How we made the movies: small jpg file, smaller gif file and huge ppt file -- All the photos (23x35 MB) are in "\\Chewie\users\lanzetta\Backstage photos"

• More photos (6x1MB) about feet manufacturing involving many students are also on "\\Chewie\users\lanzetta\Mass production photos"

• Stanford_foot.ppt: some slides describing the foot&flexure July 2004 (Will & Miguel)

• PSAtoybot.ppt: Slides about sticky toy-bot (Sang Bae)

Stanford's Contributions to the Montana Presentation

• Bob's high-level observation: We should paint a picture that reflects the point we are at with climbing: we have shown some sucess, but have also shown how difficult this task really is. Videos from CMU showing glimpses of good climbing will reinforce our progress, but also the challenge we face.
• Al will conclude his presentation with a brief overview of the new SDM Foot, as well as the Stanford Test Track. Following him are Kellar Autumn and Ron Fearing, followed by Mark.
  
• Integration of Spiny-Bot and Sticky-Bot into future RiSE? feet/platform designs
  • Question: We could tie in the key concepts from Spiny-Bot and Sticky-Bot into an actuated foot which incorporates compliant spines and PSA/dry adhesives on the current platform or something similar to it. Alternatively, we could propose a more drastic departure from the current platform which repositions front legs further forward like the Toybots, leading to a higher-level convergence of the Toybots with the platform.
• Overview of current SDM foot design
  • Design evolution: Slide with lots of foot prototypes; testing and iteration using test track
  • Performance on platform at CMU
    • successes and shortcomings
    • Foot design is closely coupled to dynamics and leg trajectory, particularly with attachment and detachment issues as observed on Test Track and at CMU. Drive home that this is non-trivial!
  • Path forward:
    • Integration of dry adhesives!!
    • Continue tuning compliances
    • Integrate Toybot principles, possibly with dry adhesives in place of PSA on Sticky-Bot.

foot1.JPG: Foot integrating dry adhesives with spines
Other pictures are attatched at bottom of page! (foot1.jpg through foot7.jpg)

• Composition of "how we made it" @ low resolution: