Salomon Trujillo

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Stickybot is a bioinspired robot that climbs smooth vertical surfaces such as glass, plastic, and ceramic tile at 4 cm/s. The robot employs several design principles adapted from the gecko including a hierarchy of compliant structures, directional adhesion, and control of tangential contact forces to achieve control of adhesion. We describe the design and(More)
We describe the design and control of a new bio-inspired climbing robot designed to scale smooth vertical surfaces using directional adhesive materials. The robot, called Stickybot, draws its inspiration from geckos and other climbing lizards and employs similar compliance and force control strategies to climb smooth vertical surfaces including glass, tile(More)
Climbing robots are especially susceptible to thermal overload during normal operation, due to the need to oppose gravity and to frequently apply internal forces for clinging. As an alternative to setting conservative limits on the motor peak and average current, we investigate methods for measuring motor temperatures, predicting motor thermal conditions(More)
1 Authors ST, SD, and LX worked at JPL under the NASA USRP and Caltech SURF summer student research programs. Abstract The cerebellum has been called the brain’s “engine of agility”. This paper presents a cerebelluminspired neural network that performs dynamic state estimation and predictive control. The model combines two types of learning within a radial(More)
The priorities of a climbing legged robot are to maintain a grasp on its climbing surface and to climb efficiently against the force of gravity. These priorities profoundly constrain the choice of gait regulation methods. We propose a gait regulation and analysis method that varies foot detachment timing, effectively modifying stride length and frequency in(More)
Efficient motion estimation is central to observing and controlling dynamic legged locomotion. This paper considers a screw-theoretic (line-oriented) representation for this context and illustrates this on the attitude estimation subproblem. This is presented as part of an Extended Kalman Filter (EKF) based on inertial (gyroscopic) sensing in which each(More)
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