Shady

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[[Image:shady-climb-up-untether-4x-mq.avi|thumb=shady-climb-up-untether-4x-thumb.png|center|Shady climbing up our lab's window frame and deploying a sun shade, video speed 4x [[Media:shady-step-and-fan-mq.avi|(short version, normal speed)]].]]
[[Image:shady-climb-up-untether-4x-mq.avi|thumb=shady-climb-up-untether-4x-thumb.png|center|Shady climbing up our lab's window frame and deploying a sun shade, video speed 4x [[Media:shady-step-and-fan-mq.avi|(short version, normal speed)]].]]
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[[Image:shady-hinge-mq.avi|thumb=shady-hinge-thumb.png|center]]
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[[Image:shady-hinge-mq.avi|thumb=shady-hinge-thumb.png|center|A passive central hinge permits about +/-3° of sened movement, which serves to bias the unconnected gripper towards the window frame.]]
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[[Image:shady-fan-open-close-mq.avi|thumb=shady-fan-open-close-thumb.png|center]]
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[[Image:shady-fan-open-close-mq.avi|thumb=shady-fan-open-close-thumb.png|center|Shady incorporates a deployable sun shade as a demonstration payload.  Other truss climbing robots could carry tools, materials, or inspection equipment.]]
<center>
<center>
{|
{|
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|valign=center|[[Image:shady-barrel-springs-mq.avi|thumb=shady-barrel-springs-thumb.png]]
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|valign=center|[[Image:shady-barrel-springs-mq.avi|thumb=shady-barrel-springs-thumb.png|The motors which rotate Shady's grippers are mounted on springs which permit about +/-3&deg; of passive sensed rotation.]]
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|valign=center|[[Image:shady-barrel-compliance-mq.avi|thumb=shady-barrel-compliance-thumb.png]]
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|valign=center|[[Image:shady-barrel-compliance-mq.avi|thumb=shady-barrel-compliance-thumb.png|One way we use the gripper rotation springs is to implement an active compliance mode: even small external forces are detectable as spring deformations, and the rotation motors are actively engaged to permit the indicated movement.  This is convenient for physically configuring the robot.]]
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|valign=center|[[Image:shady-grip-compliance-mq.avi|thumb=shady-grip-compliance-thumb.png]]
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|valign=center|[[Image:shady-grip-compliance-mq.avi|thumb=shady-grip-compliance-thumb.png|More importantly, the gripper rotation springs allow Shady to move slightly each time it closes a gripper, thus conforming the robot to the window frame and accounting for misalignments.  In tests this capability seemed crucial to achieving 99.8% reliability over many hours of climbing.]]
|}
|}
</center>
</center>
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<center>
<center>
{|
{|
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|valign=center|[[Image:shady-grip-oblique-mq.avi|thumb=shady-grip-oblique-thumb.png]]
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|valign=center|[[Image:shady-grip-oblique-mq.avi|thumb=shady-grip-oblique-thumb.png|An oblique view of the gripping process (real-time).]]
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|valign=center|[[Image:shady-grip-front-mq.avi|thumb=shady-grip-front-thumb.png]]
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|valign=center|[[Image:shady-grip-front-mq.avi|thumb=shady-grip-front-thumb.png|Front view of the gripping process.]]
|-
|-
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|valign=center|[[Image:shady-grip-end-mq.avi|thumb=shady-grip-end-thumb.png]]
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|valign=center|[[Image:shady-grip-end-mq.avi|thumb=shady-grip-end-thumb.png|End view of the gripping process.]]
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|valign=center|[[Image:shady-grip-rear-mq.avi|thumb=shady-grip-rear-thumb.png]]
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|valign=center|[[Image:shady-grip-rear-mq.avi|thumb=shady-grip-rear-thumb.png|Rear view of the gripping process.]]
|}
|}
</center>
</center>
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==Research Context==
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==Simulation==
==Publications==
==Publications==
* Marsette Vona, Carrick Detweiler, Daniela Rus.  [[Publications#vdr06|Shady: Robust Truss Climbing With Mechanical Compliances]]. International Symposium on Experimental Robotics pp. TBD, 2006.
* Marsette Vona, Carrick Detweiler, Daniela Rus.  [[Publications#vdr06|Shady: Robust Truss Climbing With Mechanical Compliances]]. International Symposium on Experimental Robotics pp. TBD, 2006.
* Carrick Detweiler, Marsette Vona, Keith Kotay, Daniela Rus.  [[Publications#dvkr06|Hierarchical Control for Self-assembling Mobile Trusses with Passive and Active Links]]. IEEE Intl. Conf. on Robotics and Automation pp. 1483--1490, 2006.
* Carrick Detweiler, Marsette Vona, Keith Kotay, Daniela Rus.  [[Publications#dvkr06|Hierarchical Control for Self-assembling Mobile Trusses with Passive and Active Links]]. IEEE Intl. Conf. on Robotics and Automation pp. 1483--1490, 2006.

Revision as of 23:16, 22 November 2006

File:shady-climb-up-untether-4x-mq.avi

File:shady-hinge-mq.avi

File:shady-fan-open-close-mq.avi

File:shady-barrel-springs-mq.avi File:shady-barrel-compliance-mq.avi File:shady-grip-compliance-mq.avi
File:shady-grip-oblique-mq.avi File:shady-grip-front-mq.avi
File:shady-grip-end-mq.avi File:shady-grip-rear-mq.avi

Research Context

Simulation

Publications

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