TorsoBot
TorsoBot is a rimless wheel robot, with a kick. It has two wheels on either side with ten spokes each. However, TorsoBot is unique in that it has a rectangular torso which replicates hip actuation in a human walk cycle. Since its initial testing, we are adapting TorsoBot to test ankle actuation as well. We added a tail with two servos which control two small legs. The work done by the push-off legs will allow TorsoBot’s torso to remain vertical while it moves. We plan to use TorsoBot to study the balance of ankle and hip power in both robots in humans.
In its latest configuration, Torsobot has been enlarged to roughly half the length of a human leg and the actuators have been replaced by a single brushless dc motor (BLDC) running a torque controlller. This allows direct control of the torque input at the hip. Presently, a PID controller is used to stabilize the pitch of the torso. The robot will initially be used to study limit cycle behaviour at different torso angles and on different slope inclinations (and declinations) before exploring the effects of ankle acutuation on the kinematics of the limit cycle as well as the energetics and cost of locomotion.
WeebleBot
Weeblebot is a self-balancing robot that doesn’t need a controller to balance! It exploits special geometry to stay upright, within a certain range of angles and speeds. We are studying the mechanics of this unique system, and adding control algorithms on top of it to increase robustness and maneuverability.
Projects by: Thana Pongcharoenyong, Sequoyah Walters, Thomas Laidlaw, Shane Deng, Kaibiao Ruan, Riley Pieper, Mia Leukert
Past assistants: Ethan Dong, Alex Janis, Sanjay Suresh, Robert Murphy