CLASH: Climbing Vertical Cloth

My work on Paul Birkmeyers CLASH robot has been published in IROS 2011.

During the development of CLASH, I assisted by testing the engagement properties of the feet on loose cloth substrates using a custom built 2 axis force displacement apparatus. Testing revealed that the foot-ankle linkage allowed for spines on the feet to engage with a strong tensile force, yet allow for easy retraction through a variety of angles.

The publication can be found here.

Clash_1

From Paul Birkmeyers abstract: CLASH is a 10cm, 15g robot capable of climbing vertical loose-cloth surfaces at 15 cm per second. The robot has a single actuator driving its six legs which are equipped with novel passive foot mechanisms to facilitate smooth engagement and disengagement of spines. These foot mechanisms are designed to be used on penetrable surfaces and offer improved tensile normal force generation during stance and reduced normal pull-off forces during retraction. CLASH is the first known robot to climb loose vertical cloth and is able to climb surfaces when surface rigidity is not guaranteed.

Clash_2

The Middle Palisade, Attempt #2

A couple hours hiking brought us to 10,800 ft, where we set up our basecamp saturday. Then, on sunday we got up at 3:30am and went for the summit. Unfortunately, it had snowed up there 1.5 weeks ago, and there was awful sugary 12 in deep snow all over everything, making all the scrambling extremely challenging. Nonetheless, we pushed on, until we got to the actual climbing. Somewhere along the way I made a routefinding error, and we got pushed off course onto some 4th class hairy terrain. We decided that all the loose snow was making the moves kind of dicey, and that we’d better turn around. It took us forever to downclimb; we were totally beat. We didnt make it back to our basecamp until about 5:30pm, and we still had to hike back to the car. It got dark, and we ended up hiking back for 4 hours in the dark. Back at the car at 9:30pm made our day 17 hours of continuous hiking and climbing. it was a little out of control. Then, for better or worse, car troubles pinned us down in Big Pine for the night. We finally got back to berkeley at about 5pm the next day.

Middle_Pal_1

Heres a link to the pictures: