This research was submitted to 2018 IEEE ICRA. I tested for ~250 hours and presented the data. It involved SLA, laser cutting, molding, milling, and design of Salto parts, designing and manufacturing of testing fixtures, and collaboration and advising of two other researchers.
In a team of 6 mechanical engineers, we designed, prototyped, and manufactured a gripper that allowed a disabled client to grab objects that are 0.75 meters away.
This project involved blade profile research, FEA simulation, energy generation, and CAD design during the project. A 20 page paper was produced and is linked here.
This included fabrication of foot spines and testing them, design and fabrication of test platform, manufacturing of fiberglass, reporting results of fabrication, testing static friction of foot spines, slow-motion footage, and climbing of step the same height as the robot.