Shady

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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=top|[[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|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=top|[[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|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.]]
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|valign=top|[[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.]]
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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=top|[[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|Front view of the gripping process.]]
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|valign=top|[[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|End view of the gripping process.]]
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|valign=top|[[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|Rear view of the gripping process.]]
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|valign=top|[[Image:shady-grip-rear-mq.avi|thumb=shady-grip-rear-thumb.png|Rear view of the gripping process.]]
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Revision as of 23:17, 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

Personal tools