1. Demonstration Platform

2. Engaging-disengaging scheme engagedisengage High torque required?

3. Bending adhesion compression Tension PSA

4. PSA toybot Number of DOF- 10 Hip joint servo - 6 Main thrusting - 2 PSA –peeling – 2 Actuation scheme – Servo driven push-pull cable Gait type – alternating tripod Weight - 200g

6. 2 DOF legs 2DOF per leg Front leg (pull -> pull)Rear leg (pull -> push) -Key point : Flexible cable without sheath can not push hard Main power transmission - pulling

7. Servo motor PSA push-pull cable Main thrusting DOF push-pull cable

8. PSA Non-sticky pad Engagement Disengagement Push-pull cable

9. Problems.. Actuator.. Foot placement scheme Leg position

10. Leg actuation Actuator - Is servo motor the best selection? - What is muscle-like actuator? - How do we control compliance in power transmission path ?

11. Sensors. Do we need sensor? –Body pitching, rolling.. –Foot attach detection -Optic sensor? Gyro? -What type of CPU do we need ?(Virgilio) ?

12. Leg interaction -Do we need force sensor on foot? -How do we accommodate difference among legs stroke? - How do we control Ground reaction force to maximize stability ?

13. Leg position Alternating tripod?

14. Insect…

15. Questions.. What weight range is reasonable for Climbing robot? What size ? How do we optimize weight/ power ?