Demonstration Platform

Engaging-disengaging scheme

engagedisengage

High torque required?

Bending adhesion

compression

Tension

PSA

PSA toybot

• Number of DOF- 10 Hip joint servo - 6

Main thrusting - 2

PSA –peeling – 2

• Actuation scheme – Servo driven push-pull cable

• Gait type – alternating tripod• Weight - 200g

2 DOF legs

2DOF per leg

Front leg (pull -> pull) Rear leg (pull -> push)

-Key point : Flexible cable without sheath can not push hard

Main power transmission - pulling

Servo motor

PSA push-pull cable

Main thrusting DOF push-pull cable

PSA

Non-sticky pad

Engagement Disengagement

Push-pull cable

Problems..

• Actuator..

• Foot placement scheme

• Leg position

Leg actuation• Actuator

- Is servo motor the best selection?

- What is muscle-like actuator?

- How do we control compliance in power transmission path ?

Sensors.

• Do we need sensor?– Body pitching, rolling..– Foot attach detection- Optic sensor? Gyro?

- What type of CPU do we need ?(Virgilio)

?

Leg interaction

-Do we need force sensor on foot?

-How do we accommodate difference among legs stroke?

- How do we control Ground reaction force to maximize stability

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Leg position

• Alternating tripod?

Insect…

Questions..

• What weight range is reasonable for Climbing robot?

• What size ?

• How do we optimize weight/ power ?