Kenneth Meier and Mariano at Berkeley
Sean Bailey from Stanford

Goals
- Get some real data from experiments
- Establish a common framework for mechanical properties measurements

1) 6DOF body trajectories (Mariano)
        - Will provide us with 6DOF cockroach body trajectory and
          corresponding foot contact information
        - Stanford will construct phase plots of these trajectories with
          lines of foot contact changes
        - Stanford will analyze this information and look for correlatiosn
          with Variable Struture Systems and Tomlin's stability envelopes
          work

2) Tiny SDM manufacture
        - Full's group has access to 3 measuring setups:
                50g max force, 4mm disp.
                100g max force, ?? disp.
                500g max force, ?? disp. (being used)
        - The size of the leg needs to be comparable to the size of the
          actual cockroach leg for it work with their setup
        - They also suggested that Stanford do some of own measurements
          with simple geometries of the same material (a good suggestion -
          does Stanford have the capability to do these kind of static and
          dynamic measurements?)

3) Engineering mechanical components explained
        - see http://cdr.stanford.edu/biomimetics/documents/comp1.pdf

4) Biologist's method of mechanical measurements explained
        - see http://cdr.stanford.edu/biomimetics/documents/biol1.pdf

5) Perturbation Experiments Data (Kenneth)
        - Kenneth will send us data from the perturbation experiment
          described in:  http://cdr.stanford.edu/biomimetics/documents/pert1.jpg
        - In parallel with Kenneth, Stanford will attempt to identify the
          mechanical components that would yield such a perturbation
          response
        - Stanford will help Kenneth with more methodical techniques for
          determining constituent mechanical components

6) Kenneth's Measurements explained
        - Location of muscles for perturbation experiments
        - see: http://cdr.stanford.edu/biomimetics/documents/ken1.pdf

7) Kenneth's Future Plans
        - Develop segmental model per:  http://cdr.stanford.edu/biomimetics/documents/model1.jpg
        - Suggested he contact Dr. Heegaard at Stanford about his
          Mathematica SMASH dynamics package
          (heegaard@Bonechip.stanford.edu)
        - Basic question - how do we characterize how well a leg
          rejects disturbances?

8) Whole leg stiffness and damping (Mariano and Anne)
        - Took movie of dead cockroach
        - Use movie capture data to get whole leg stiffness and damping