• To do:
  • Make a sidewall to get a better "center of rotation"!
  • Make translation sidewall!
• General thoughts:
  • Need to squeeze after loading in shear (otherwise the shear removes the load on the rear part).
  • Maybe no need for as much spine in the rear than in the front?!
• 2007/07/16: Linear Squeezing
  • With Big Toes:
    • The fish hooks get a good grip on the red brick.
    • Hold about 0.8-1kg with about 1-2kg of squeezing force.
    • Low number of spine make them less reliable (once on a good hold, they hold), but not necessarily less capable without using a stiffer spring.
    • Procedure: extend to about 1.5cm, drag front row to make it grips and then slowly release rear spines.
      
      
  • With Sanbae's Toes:
    • Linear slide works well.
    • These spine doesn't hold well on ZMan red brick... it's suppose to be because they are bent.
      
• 2007/07/11: Servo Actuated SqueezingFoot
  • Proximity Servo mechanism:
    
    • Servo strong enough in that configuration.
      
  • Remote servo mechanism:
    * The guiding tubing "collapse" under the load!
    • Servo not quite strong enough (should need a pulley).
      
• 2007/06/28: Continued testing the foot from previous experiment:
  • HOLD UP TO 1.2kg... and I ran out of weight to hang!
  • We could continue to add weight as long as the spine or the surface hold.
  • The stiffer the rotational spring, the more you can hold!
• 2007/06/26: Preliminary squeezing foot experiment... Its acts as a torsion spring! :
  
  • Increase normal load before failure.
  • The rear row of spine prevent motion of the heel normal to the surface, thus reducing the rotation of the spines in the front row and disengaging them!
  • Not that much improvement for sideway forces.
  • Rotation might not be the best way to load the rear spines (translation maybe?).
    

-- AlexisLD - 26 Jun 2007