P.U.R.E Midterm Report

A slide show of 4-5 slides detailing our progress needs to be prepared for P.U.R.E.

The slides should include:

1) The research statement/Motivation (Why is this topic worth investigating?)
2) Basic information about the research
3) What you have learned and done so far
4) What needs to be done next

Interesting Links for Finding Hardware

Robot Shop
Advantage Hobby

Tendon Driven Robotic Arms

Tendon Driven Robotic Arms

This design allows for 3 axis movement using a tendon driven system. This should help us generate a design for the joints.

Opiliones Spider Video

Muscle Actuators?

Walking Gaits

• Two types of gait possible for movement in hexapods: tripod and metachronal.
  
  https://www.youtube.com/watch?v=l0-q7Kw83I4

• Variable balance gestures that create a more life like walking gait 
  http://www.youtube.com/watch?v=O3ovrT8pWww

Inner Tendon Design

Placing the tendon on the inside of the joint removes the need for a bridge connection above, cutting down weight and bulk.  To achieve adequate tension, re-looping the tendon at the base acts like a pulley and requires longer draw but with lower peak tension.  Ample torque is generated for supporting the leg and some portion of the chassis.