1. Tiffany’s Summer Summary
Tiffany Card, Summer 2003
RiSE Climbing Robot Project
Stanford University Biomimetics Lab

2. GumbyBot http://www-cdr.stanford.edu/twiki/bin/view/Main/GumbyBot
Weight: 134g
Materials
body: wood
legs: coated steel clothesline
joints: nylon bolts
tail: Romex
Strategies for robust joints:
Filing, cleaning
cross-pinning, crimping
longitudinal filing, increased surface area, hooked end

3. PartridgeThrust Relevance of past research Experiments and results
Potential for future investigation
Conclusion: potential contribution to scenarios

4. Relevance of past research Wing-Assisted Incline Running and the Evolution of Flight Kenneth Dial (U of Montana)
Use of wings to increase climbing ability
Quantification of mechanism!
Coordination of foot placement

5. Relevance of past research Micromechanical Flying Insect (MFI) Project Ron Fearing (UC Berkeley)
Research into complex flapping motion to produce lift
Development of 4-bar linkage to mimic complex wing movement (translational and rotational)
Difference
Optimized on micromechanical scale
Used to generate constant, vertical lift instead of intermittent vectored thrust

6. Relevance of past research Microbat: A Palm-Sized Electrically Powered Ornithopter T. Nick Parnsin-Sirirak et. al (Caltech, UCLA, AeroVironment)
Relevance
Optimization of wing-mechanism design: Transmission design, wing and frame materials
Use of MEMS manufacturing to enhance repeatability, efficiency
Difference
Restricted to perpendicular flapping motion
Designed to weigh under 12.5g, generates small thrust, not maximally energy efficient (uses DC to DC converter to ramp up voltage)

7. Experiments and results
Mounted Propeller
Optimized by Moto based on battery weight and mounting bracket weight and angle
Artificial duct does not eliminate vortices
Interaction between thrust and forward propulsion
Compared to pull-back motor alone, addition of wings increases flat surface velocity (1.72.5 m/s) and max angle of ascension (1934 degrees)
Influence of thrust?

8. Experiments and results Simplified case: duck on a motorized unicycle

9. Simplified case: duck on a motorized unicycle Max friction force

10. Simplified case: duck on a motorized unicycle Sum of forces in x-direction

11. Potential for future investigation
Dynamic force variance over time
Incorporation of MFI-like wings to generate ground effects

12. Conclusion: potential contribution to scenarios

13. thanks!
Weight: 4,456.3 pounds
Length: 3,578 feet