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SAFFiR

SAFFiR: Shipboard Autonomous Fire-Fighting Robot

SAFFiR is a bio-inspired bipedal robot designed for finding and extinguishing fires aboard naval ships. SAFFiR is powered by custom linear serial elastic actuators that incorporate custom titanium springs. It will utilize an advanced sensor suite to navigate the difficult environment caused by smoke, heat, and water vapor. SAFFiR is designed to use many available fire suppression methods including hoses, fire extinguishers, and PEAT canisters. It will be protected by high-temperature thermal shielding, and is designed to traverse a ship environment including difficulties such as stepping over sills and walking in sea state conditions. This project is sponsored by the Office of Naval Research (ONR)

  • Develop robust force-controlled bipedal locomotion
  • Investigate gaits suited to linear-actuator driven walking
  • Implement very robust stabilization suitable for sea state
  • Utilize passive in-series springs to absorb shocks
  • Design and fabricate an upper torso and arms
  • Investigate other shipboard terrain (stairs, ladders, etc)
  • Force controlled walking
  • Balancing in sea state conditions
  • Manipulation of fire suppression equipment
  • Utilizes custom linear actuators

RoMeLa is collaborating with three other laboratories for the total SAFFiR project:

 

The EXTREME Lab at Virginia Tech with Dr. Brian Lattimer. Their portion involves research and design for heat shielding as well as sensors suitable for the smoky, hot, all-metal environment during a ship-fire.

 

 

The GRASP Lab at University of Pennsylvania and Dr. Daniel Lee. They are investigating the suitable navigation and autonomy decisions to locate a fire, navigate the ship’s interior, and perform high-level behavioral reasoning.

 

 

The Naval Research Lab with John Farley, Dr. Alan Schultz, and Dr. Susan Rose-Pehrsson. The NRL is developing the human robot interaction capabilities, fire suppression techniques, and the suite of fire monitoring sensors.

THALeR

THALeR: Tripedal Hyper Altitudinal Legged Robot

The THALeR project (pronounced “taller”) is a research study in how vertical-height-scaling affects robot mobility, specifically robots of the same form as STriDeR. The key advantages of being very tall are being able to step over obstacles as well as being able to traverse naturally rough terrain. Our design approach is to simultaneously answer two codependent questions: How should the robot walk and what physical design is the best for walking? We are applying advanced computational techniques to study the complex system dynamics and gain insight to invariant techniques of good walking. We will be first validating our simulation results on a 2[m] prototype named “SMALeR” and then extending to a 10[m] tall

  • What is “good” walking? What gait characteristics are almost always optimal?
  • How much more mobility can be gained from being very tall? How can mobility be quantified?
  • What are scaling relationships for things like energy usage or swingfoot clearance?
  • What materials/sensors/actuators would be needed for a 10[m] tall robot?
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    • Derive multi-phase symbolic equations of motion from Lagrangian dynamics
    • Generate instantaneous impact equations from Conservation of Angular Momentum
    • Utilize GPOPS-II for Direct Pseudospectral Transcription numerical optimization method
    • Find local optima for a wide range of cost functions, constraints, and parameters
    • Driven by Dynamixel PRO actuators for 12 rotational degrees of freedom
    • Electrical connections enabled by MOOG slip-rings at shoulder-rotator joints
    • Onboard batteries, IMU sensor, and FitPC2 computer for untethered operation
    • Custom-designed RoMeLa power electronics, all machining done in-house
    • Single-step test-rig built to approximate proportions, successfully stepping summer 2012 (see figure)
    • STriDER 2.0 fully actuated 1[m] precursor, successfully walking fall 2008 on intuitive gait design
    • STriDER 1.0 under-actuated 2[m] prototype, exploring passive knee-swing and corresponding gait forms
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    DARwIn OP

    DARwIn OP: Open Platform Humanoid Robot for Research and Education

    DARwIn-OP: An Open Platform, Miniature Humanoid Robot Platform for Research, Education and Outreach. The objective of this annual workshop is to; introduce DARwIn-OP to the humanoid robotics community to broaden the DARwIn-OP project and form a user community; train the users for use in research, education, and outreach activities; disseminate results of the usage of DARwIn-OP in the classroom; and to obtain feedback from the users for future improvements.

    DARwIn-OP (Dynamic Anthropomorphic Robot with Intelligence – Open Platform) is an affordable, miniature-humanoid-robot platform with advance computational power, sophisticated sensors, high payload capacity, and dynamic motion ability to enable many exciting research, education, and outreach activities. Sponsored by the National Science Foundation (NSF) in the United States, DARwIn-OP has been developed by RoMeLa at Virginia Tech with collaboration with University of Pennsylvania, Purdue University and Robotis Co., based on the award winning DARwIn series humanoid robots in development since 2004. In July 2011, Team DARwIn competed at RoboCup in Istanbul, Turkey winning first place against 24 international teams. DARwIn-OP is a true open platform where users are encouraged to modify it in both hardware and software, and various software implementations are possible (C++, Python, LabVIEW, MATLAB, etc.) The open source hardware is not only user serviceable thanks to its modular design, but also can be fabricated by the user. Publically open CAD files for all of its parts, and instructions manuals for fabrication and assembly are available on-line for free. A number of DARwIn-OP units will be fabricated and built by Robotis Co. for distribution to 11 partner universities (including major research universities, RUI institutions, a women’s college, and two local high schools) and will utilize them in their classroom teaching and projects as well as outreach activities. The objective of this annual workshop is to; introduce DARwIn-OP to the humanoid robotics community to broaden the DARwIn-OP project and form a user community; train the users for use in research, education, and outreach activities; disseminate results of the usage of DARwIn-OP in the classroom; and to obtain feedback from the users for future improvements.

    About 10 DARwIn-OP units will be made available to the participants during the workshop for hands-on activities and testing. After the workshop, a number of DARwIn-OP units will be distributed to selected participants from the partner universities.

    • Introduction and demonstrations
    • Mechanical hardware (overview, dis/assembly, fabrication, maintenance)
    • Electronics (overview, computing unit, microcontroller, sensors, power)
    • Software (architecture, programming, various implementation examples)
    • Programming examples and hands-on activities (omni-directional walking, vision based localization, object pick and place, autonomous behaviors for robot soccer)

    This workshop is sponsored by NSF under grant CNS-0958406

    STriDER

    STriDER: Self-excited Tripedal Dynamic Experimental Robot

    STriDER (Self-excited Tripedal Dynamic Experimental Robot) is a novel three-legged walking machine that exploits the concept of actuated passive dynamic locomotion to dynamically walk with high energy efficiency and minimal control. Unlike other passive dynamic walking machines, this unique tripedal locomotion robot is inherently stable with its tripod stance, can change directions, and is relatively easy to implement, making it practical to be used for real life applications.

    During a step, two legs act as stance legs while the other acts as a swing leg. The legs are oriented to push the center of gravity outside of the stance legs to initiate a step. As the body of the robot falls forward, the swing leg naturally swings in between the two stance legs and catches the fall. The body also rotates 180 degrees, preventing the legs from tangling up. Once all three legs are in contact with the ground, the robot regains its stability and the posture of the robot is then reset in preparation for the next step. Gaits for changing directions are implemented in a rather interesting way: by changing the sequence of choice of the swing leg, the tripedal gait can move the robot in 60° interval directions for each step.

    The simple tripod configuration and tripedal gait of STriDER has many advantages over other legged robots; it has a simple kinematic structure; it is inherently stable (like a camera tripod); it is simple to control as the motion is a simple falling in a predetermined direction and catching its fall; it is energy efficient, exploiting the actuated passive dynamic locomotion concept utilizing its built in dynamics; it is lightweight enabling it to be launched to difficult to access areas; and it is tall making it ideal for deploying and positioning sensors at high position for surveillance, for example.

    In this research, we study the issues of actuated passive dynamic locomotion, optimizing physical design parameters for dynamically walking robots, and the design of this novel locomotion system by means of a combination of theoretical analysis, computer simulation, and designing and construction of prototypes for experimentation. The overall research objectives are:

    • Analyze and synthesize various gait strategies for changing directions and path planning
    • Study the three-dimensional kinematics and dynamics of STriDER
    • Improve understanding of the effects of design parameters on the quality of gaits and find optimal mechanical design parameters with dynamic considerations
    • Design and fabricate a working robot prototype to verify the analytical model and evaluate the concept.

    Journal Papers
    Ren,P., Hong, D.W., and Morazzani, I., “Forward and Inverse Displacement Analysis of A Novel Three-Legged Mobile Robot Based on the Kinematics of In-parallel Manipulators,” ASME Journal of Mechanisms and Robotics, submitted
    Book Chapters
    Morazzani, I., Lahr, D., Hong, D.W., Ren, P., “Novel Tripedal Mobile Robot and Considerations for Gait Planning Strategies Based on Kinematics,” Recent Progress in Robitics: Viable Robotic Service to Human, pp.35-48, Springer-Verlag Berlin Heidelberg, 2008
    Conference Papers
    Ren, P., Hong, D.W., “Instantaneous Kinematics and Singularity Analysis of a Novel Three-Legged Mobile Robot with Active S-R-R-R Legs,” 32nd ASME Mechanisms and Robotics Conference, August 3-6, 2008, Brooklyn, New York, USA
    Ren, P.,Morazzani, I., and Hong, D.W., “Forward and Inverse Displacement Analysis of a Novel Three-legged Mobile Robot base on the Kinematics of In-parallel Manipulators,” 31st ASME Mechanisms and Robotics Conference , September 4-7, 2007, Las Vegas, Nevada, USA
    J.R. Heaston and D.W. Hong, “Design of a novel tripedal locomotion robot and simulation of a dynamic gait for a single step,” ASME Mechanisms and Robotics Conference, September 2007.
    Hong, D. W., “Biologically Inspired Locomotion Strategies: Novel Ground Mobile Robots at RoMeLa”, The 3rd International Conference on Ubiquitous Robots and Ambient Intelligence, Seoul, S. Korea, October 15-17, 2006
    Heaston, J. R., Hong, D. W., Morazzani, I., Ren, P., Goldman, G., “STriDER: Self-Excited Tripedal Dynamic Experimental Robot”, 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, April 10-14, 2007
    D.W. Hong and D.F Lahr. “Synthesis of the body swing rotator joint aligning mechanism for the abductor joint of a novel tripedal locomotion robot,” ASME Mechanisms and Robotics Conference, September 2007.

    CHARLI

    CHARLI: Cognitive Humanoid Autonomous Robot with Learning Intelligence

    CHARLI is the United States’ first full-size autonomous humanoid robot. It’s mechanical design has allowed experimentation into the effects of different mechanical configurations, mostly in the legs, on the performance of bipedal walking and balancing. CHARLI is capable of walking in all directions as well as turning, kicking, and performing gestures and simple upper body manipulation tasks. A variety of hands and grippers have been experimented with for various objects or goals

    The goals of this research project focus on improving the capabilities of humanoid robots and advancing the understanding of bipedal locomotion:
    Implement very robust walking via ZMP-based control about a custom sinusoidal gait pattern
    Parallel actuators yield insights into the human anatomical form and its relationship to bipedal locomotion.
    Multiple versions of CHARLI (with mechanical changes) allow comparison of walking performance to weight, actuator, and structural differences

    CHARLI has undergone a variety of revisions and improvements since first being created around 2009-2010. The original CHARLI, often referred to as CHARLI-L (the L is for “lightweight”) was started using seed funding supplied by the Student Engineering Council. The first CHARLI can be identified by it’s legs, it has a fourbar linkage with a spring stretched across 2 corners to balance the torque required for knee-bending, allowing much smaller motors to reach a full range of motion. (ASME IDETC Publication reference) This original CHARLI had 21 DoF (5 in each leg, 4 each arm, 3 for the head) had a mass of 12.4[kg] and walked at 0.8[km/hr] using ZMP-based walking control on top of a custom robust sinusoidal gait pattern. The “lightweight” design goal was undertaken for a variety of reasons including safety, requirement of onboard power, available actuator limits, and low cost. In July 2010, Popular Science named CHARLI “America’s first true humanoid robot” due to it’s biological design and resemblance to humans. As the next generation of the CHARLI series humanoid robots, CHARLI-2 improves stability and speed in walking, intelligence and autonomy, and soccer playing skills. CHARLI-2 is also designed to participate in the autonomous robot soccer competition, RoboCup, in the Adult size league. CHARLI-2 implements an impressive active stabilization strategy based on sensory feedback (filtered IMU angles, gyro rate readings and proprioception information based on joint encoders) Stabilizing torques at the ankle joints are applied successfully rejecting external disturbances. CHARLI-2 can be recognized by it’s legs, a complete optimized overhaul of the old spring-loaded fourbars. The redesign reduced the total mass to 12.1[kg] and increased walking speed to 1.4[km/hr] as well as demonstrating greater robustness, increasing the total DoF to 25, increasing the total actuator count to 32, and increasing battery-life runtime by 50%. CHARLI-2 is honored “2011 Best Invention of the Year” by Time magazine, won the Louis Vuitton Best Humanoid Award (a.k.a. Louis Vuitton Cup) at RoboCup 2011, and won 1st place in AdultSize league for autonomous soccer at RoboCup 2011 (as well as many other awards)

    • Lahr, D.F., Hong, D.W., “The Development of CHARLI: A Linear Actuated Powered Full Size Humanoid Robot”, Proceedings URAI 2008, Seoul, Korea, November 2008.
    • Lahr, D.F., Hong, D.W., “A Biomimetic Parallelly Actuated Humanoid Robot Design”, Proceedings UKC 2009, Raleigh, NC., July 2009.
    IMPASS

    IMPASS: Intelligent Mobility Platform with Active Spoke System

    IMPASS (Intelligent Mobility Platform with Active Spoke System) is a wheel-leg hybrid locomotion robot with high mobility for unstructured terrain. Utilizing rimless wheels with individually actuated spokes, it can follow the contour of uneven surfaces like tracks and step over large obstacles like legged vehicles while retaining the simplicity of wheels. Since it lacks the complexity of legs and has a large effective (wheel) diameter, this highly adaptive system can move over extreme terrain with ease while maintaining respectable travel speeds, and thus has great potential for search-and-rescue missions, scientific exploration, and anti-terror response applications.

    • Classification for topology structures of IMPASS based on different ground contact points
    • Mobility analysis for different configuration cases, using both conventional and screw-based modified Grubler and Katzbach criterion
    • Inverse and forward position analysis for the critical topology scheme of IMPASS
    • Singularity configuration identify and investigation using screw theory
    • Screw-based Jacobian analysis
    • Develop 2D and 3D motion planning strategies in unstructured terrain for both terrain sensing and non-terrain sensing configurations
    • Verify motion planning strategies in simulation and experimentally
    • Advance the capabilities of the hardware platform, including a moving center of gravity, onboard computer and power, and rugged body and components
    • Develop accurate and dependable perception units for terrain sensing and object recognition, including laser range finders and cameras

    Laney, D. and Hong, D.W.,”Kinematic Analysis of a Novel Rimless Wheel with Independently Actuated Spokes”, 29th ASME Mechanisms and Robotics Conference, Long Beach, California, September 24-28, 2005.
    Hong. D.W. and Laney, D., “Preliminary Design and Kinematic Analysis of a Mobility Platform with Two Actuated Spoke Wheels”, US-Korea Conference on Science, Technology and Entrepreneurship (UKC 2006), Mechanical Engineering & Robotics Symposium, Teaneck, New Jersey, August 10-13, 2006.
    Laney, D. and Hong, D.W., “Three-Dimensional Kinematic Analysis of the Actuated Spoke Wheel Robot”. 30th ASME Mechanisms and Robotics Conference, Philadelphia, Pennsylvania, September 10-13, 2006.
    Wang, Y., Ren, P., Hong, D.W.” Mobility and geometrical analysis of a twoactuated spoke wheel robot modeled as a mechanism with variable topology”,32ndASME Mechanisms and Robotics Conference, August 6-9, 2008, Brooklyn, New York,United States
    Ren, P., Wang, Y., Hong, D.W.” Three-dimensional Kinematic Analysis of a TwoActuated Spoke Wheel Robot Based on its Equivalency to a Serial Manipulator”,32ndASME Mechanisms and Robotics Conference,August 6-9, 2008, Brooklyn, New York,United States
    Wang, Y., Ren, P., Hong, D.W.” Gait and Gait Transition for a Robot with TwoActuated Spoke Wheels”,33rd ASME Mechanisms and Robotics Conference, August30-September 2, 2009,San Diego, California, United States
    2005 ASME Freudenstein/General Motors Young Investigator Award

    MARS

    MARS: Multi Appendage Robotic System

    MARS (Multi-Appendage Robotic System) is a hexapedal robotic platform capable of omni-directional walking and of performing manipulation tasks. Patterned after the LEMUR IIb (Legged Excursion Mechanical Utility Rover), the latest in a series of hexapedal robots developed at NASA JPL, it is developed for autonomous inspection and maintenance tasks on the exterior of space structures and vehicles in zero gravity environments. MARS is also a general research platform to study mobility over difficult environments such as costal terrain and uneven surfaces.

    • Analyze and study biological neuron models
    • Develop a dynamically relevant simulation environment
    • Identify various aspects of walking and incorporate them into the neural network
    • Design neurons/networks and specify the internal current and synaptic conductances.
    • Verify network and adjust its operation
    CIRCA

    CIRCA: Climbing Inspection Robot with Compressed Air

    CIRCA (Climbing Inspection Robot with Compressed Air) is a unique climbing robot that utilizes McKibben air muscles to climb scaffolding structures for inspection tasks. By connecting multiple CIRCA modules together in different configurations, different methods of locomotion can be achieved. For example, a ‘doughnut’ configuration would be useful for climbing a pole, and a helical configuration would be useful for ground locomotion.

    HyDRAS

    HyDRAS: Hyper-redundant Discrete Robotic Articulated Serpentine

    Unique snake-like robot that utilizes a new way of locomotion to climb pole or scaffolding structures.

    • Develop a helical backbone curve that can describe the shape of HyDRAS for wrapping around poles with a variety of cross sections.
    • Design and build working prototypes that can verify the analytical simulations.
    • Develop a design tool to assist in the selection of design parameters.
    • Determine the motor actuation angles to achieve a whole body rolling motion.
    • G. Goldman and D. W. Hong, “Determination of Joint Angles for Fitting a Serpentine Robot to a Helical Backbone Curve,” in International Conference on Ubiquitous Robots and Ambient Intelligence, November 2007.
    • G. Goldman and D. W. Hong, “Considerations for Finding the Optimal Design Parameters for a Novel Pole Climbing Robot,” in ASME Mechanisms and Robotics Conference, August 2008.
    • Grand Prize, International CAPSTONE Design Fair, Seoul, Korea, December 2008
    • 2nd Place, ASME SERAD Safety Innovation competition, 2008
    DARwIn
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    DARwIn: Dynamic Anthropomorphic Robot with Intelligence

    DARwIn (Dynamic Anthropomorphic Robot with Intelligence) is a family of fully autonomous humanoid robots capable of bipedal walking and performing human like motions. Developed at the Robotics & Mechanisms Laboratory (RoMeLa) at Virginia Tech, DARwIn is a research platform for studying robot locomotion and autonomous behaviors, and also the base platform for Virginia Tech’s entry to the RoboCup competition.

      DARwIn is a research platform for studying robot locomotion and is also the base platform for Virginia Tech’s entry to the RoboCup competition. In this research, we study the issues of mechanical design, kinematics, dynamic bipedal gaits, ZMP control, vision tracking, and complex autonomous behaviors needed for playing soccer.

      • Particle-based Localization
      • Bipedal Locomotion
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      Many versions of DARwIn have been developed, each an improvement on its predecessor.

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      DARwin 0
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      To investigate the feasibility of controlling a 21 DOF humanoid robot, the Cycloid robot which was designed and fabricated by Robotis was used as the testing platform. Since this was not the first physical iteration of DARwIn this testing iteration is called DARwIn 0. The motors used for controlling the robot’s motion were the Dynamixel DX-117.

      DARwIn 0 proved to be a success, demonstrating that the core software developed for the robot worked for controlling the robot to stand up and walk.

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      Journal Papers

      1. Hurdus, J., Hong, D., “The Use of Hierarchical State Machines for Behavioral Programming in the DARPA Urban Challenge and RoboCup”, Springer-Verlag of Lecture Notes in Electrical Engineering (LNEE), 2009 (in print)

      Refereed Conference Papers

      1. Muecke, M. and Hong, D. W., “Investigation of an Analytical Motion Filter for Humanoid Robots”, 5th International Conference on Ubiquitous Robots and Ambient Intelligence, Seoul, S. Korea, November 20-22, 2008
      2. Hurdus, J., Hong, D., “The Use of Hierarchical State Machines for Behavioral Programming in the DARPA Urban Challenge and RoboCup”, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, Seoul, Korea, August 20-22, 2008
      3. Muecke, M. and Hong, D. W., “The Synergistic Combination of Research, Education, and International Robot Competitions Through the Development of a Humanoid Robot”, 32nd ASME Mechanisms and Robotics Conference, New York City, NY, August 3-6, 2008
      4. Muecke, M., Hong, D. W., and Lim, S., “Precision Circular Walking of Bipedal Robots”, 32nd ASME Mechanisms and Robotics Conference, New York City, NY, August 3-6, 2008
      5. Muecke, K., and Hong, D. W., “DARwIn’s Evolution: Development of a Humanoid Robot”, 2007 IEEE International Conference on Intelligent Robotics and Systems, San Diego, CA, October 29-November 2, 2007
      6. Terpenny, J., Dancey, C., Goff, R., Nelson, D., Ellis, M., and Hong, D. W., “Success Strategies for Capstone Design Courses with Large Classes, Diverse Project Types, Small to Large Student Teams, and Varied Faculty Interests and Approaches”, 2007 ASEE Annual Conference & Exposition, Honolulu, Hawaii, June 24-27, 2007
      7. Hong, D. W., “Biologically Inspired Locomotion Strategies: Novel Ground Mobile Robots at RoMeLa”, 3rd International Conference on Ubiquitous Robots and Ambient Intelligence, Seoul, S. Korea, October 15-17, 2006

      Non-Refereed Conference Papers

      1. Muecke, K. and Hong, D. W., “Development of a Fully Autonomous Humanoid Robot for Novel Locomotion Research and as the First US Humanoid Entry to Robocup”, NI Week, Worldwide Virtual Instrumentation Conference, Austin, Texas, August 7-9, 2007 (Most Outstanding Application of Virtual Instrumentation, Editor’s Choice Award Winner for Best Application of Virtual Instrumentation, Best Application of Virtual Instrumentation, Mechatronics Category Winner)
      2. Muecke, K. and Hong, D. W., “Development of an Open Humanoid Robot Platform for Research and Autonomous Soccer Playing”, 22nd AAAI Conference on Artificial Intelligence, Vancouver, BC, Canada, July 2007 (Technical Innovation Award, Judges’ Award for Mechanism Design)
      3. Muecke, K. and Hong, D., “A Reactive Approach to Behavior Based Control of a Soccer Playing Humanoid Robot”, US-Korea Conference on Science, Technology and Entrepreneurship (UKC2007), Mechanical Engineering & Robotics Symposium, Washington DC, August 9-12, 2007

      Other Selected Publications

      1. Muecke, K. and Hong, D. W., “PC/104-Plus: The Brains Behind the DARwIn Humanoid Robot”, PC/104 and Small Form Factors, Journal of Modular Embedded Design, Vol. 12, No. 3, Summer 2008, pp. 26-30
      2. Muecke, K. and Hong, D. W., “DARwIn’s Evolution: Development of a Humanoid Robot for Research and Education”, Industrial Embedded Systems, OpenSystems Publishing, December 2007
      3. Hong, D., Muecke, K., Mayo, R., Hurdus, J., and Pullins, B., “DARwIn’s Fist Soccer Tournament: America’s First Entry to the Humanoid Division of RoboCup”, Servo Magazine, Vol. 5, No. 9, September, 2007
      4. Muecke, K., Mayo, R., Hong, D. W., “DARwIn: Dynamic Anthropomorphic Robot with Intelligence, Part 3 – DARwIn 2.0: The Next Generation”, Servo Magazine, Vol. 5, No. 2, February, 2007
      5. Muecke, K., Cox, P., Hong, D. W., “DARwIn: Dynamic Anthropomorphic Robot with Intelligence, Part 2 – Parts, Wires and Motors”, Servo Magazine, Vol. 5, No. 1, January, 2007
      6. Muecke, K., Cox, P., Hong, D. W., “DARwIn: Dynamic Anthropomorphic Robot with Intelligence, Part 1 – Concept & General Overview”, Servo Magazine, Vol. 4, No. 12, December, 2006
      WSL

      WSL: Whole Skin Locomotion

      The Whole Skin Locomotion is a novel locomotion mechanism for mobile robots inspired by the motility mechanisms of single celled organisms that use cytoplasmic streaming to generate pseudopods for locomotion. The embodiment of WSL works by way of an elongated toroid which turns itself inside out in a single continuous motion, effectively generating the overall motion of the cytoplasmic streaming ectoplasmic tube in amoebae.

      MiniHUBO

      MiniHUBO: Miniature Humanoid Robot

      MiniHUBO (Miniature Humanoid Robot) is an small affordable adaptable robot platform. MiniHUBO is a miniaturized version of the HUBO developed by the Korea Advanced Institute of Science and Technology (KAIST). The goal of MiniHUBO is to develop an affordable and open-ended research platform to expand knowledge in the human robotics field. MiniHUBO is designed to be simple to fabricate and assemble. MiniHUBO is Designed with a flexible control unit capable of easily integrating sensors to increase capability.

      DAVID

      DAVID: Demonstrative Automobile for the Visually Impaired Driver

      DAVID (Demonstrative Automobile for the Visually Impaired Driver) is the world’s very first, and only vehicle than can be driven by the blind, developed in response to an initiative proposed by the National Federation of the Blind (Blind Driver Challenge). Through the development and integration of novel non-visual driver interfaces on an existing vehicle platform, the goal is to provide the blind with a degree of independence that they have never before experienced.

      RAPHaEL

      RAPHaEL: Robotic Air Powered Hand with Elastic Ligaments

      RAPHaEL (Robotic Air Powered Hand with Elastic Ligaments) is a dexterous robotic hand powered by compressed air with a novel actuator in the shape of an accordion like corrugated tubing. Each finger of the hand is actuated by three actuator segments connected to a single compressed air line. All three segments of the finger moves as compressed air enters the actuator triggered by a solenoid, and the finger returns to its original position by elastic members attached to the finger when the air is cut off. The force, position, and compliance of the finger is controlled by a electronic air pressure regulator through feedback from the bending position sensors and force sensors at the tip of each fingers. This mechanism significantly simplifies the design, control, and implementation of a dexterous hand and dramatically lowers the cost enabling it to be a cost effective practical solution for use in prosthesis.

      CIVT

      CIVT: Cam-based Infinitely Variable Transmission

      The Cam-based Function Generating Transmission is a novel mechanism that takes two inputs, an angular rotational input and a ‘gear ratio’ selection, and outputs an angular rotation with a variable speed ratio. This transmission has unique characteristics such as generating specific functional speed ratio outputs including dwells, for a constant velocity input.