Shady: A Truss Climbing Window Shade

We work in the Stata Center at MIT in a room with a large wall-window which currently has no shades. As many of our desks are directly next to this window we needed some means to block the light from hitting our computer screens. Instead of traditional shades which would block the whole window, detracting from the view, we have decided to build a robot which can climb on the window's aluminum frame. It can thus be positioned on the window to be a localized sunshade. Shady is fun, but it's there's also some serious robotics research here. While many climbing robots have been developed, only a few climb on thin-member truss-like structures. Shady tests some new ideas in design and control, in particular, using mechanical compliances and associated proprioception, and was experimentally verified to be over 99.8% reliable over many hours of climbing and over one thousand motions.