Control the Center of Gravity for Tensegrity Robotic locomotor Mechanism
The purpose of this project is to present a new teleoperated spherical tensegrity robot capable of performing locomotion. With a novel control scheme centered around the simultaneous actuation of multiple cables, the robot demonstrates robust climbing on inclined surfaces in hardware experiments and speeds significantly faster than previous spherical tensegrity models. We will analyze locomotion in simulation and hardware under single and multicable actuation, and introduce novel multi-cable actuation control policies.
A Novel Trajectory Tracking Control of the Soft Tensegrity Robotics Manipulator using Internal Inertia Inside Each Rod of the Robot
The Dynamic Tensegrity for the robotic manipulator is the main goal for this project. So we will study multiple tensegrity morphologies and control strategies for robotics exploration. The primary goal concept envisions a tensegrity robot with a controllable tension network, which allows the robot to be tightly stowed for launch and then unpacked for landing. During landing the robot will act much like an airbag and absorb impact forces by diffusing them through the tensile network, protecting a science payload. The robot will then transport the payload on the floor body, with the added benefit that the payload remains protected.
Optimization and Development for a Mathematical Model of the Soft Wires Using Different Materials for Tensegrity Robotic Locomotor Mechanism
Parametric models of round wire rope structures in arbitrary centerlines were the objective of this project and their geometrical features were analyzed based on enveloping theory. Especially concerning on strand directions and types such as right/left Lang lay and on strand wire structures as single-helixes, double-helixes and super-coiled configurations, a series of recursive formulas of spatial enwinding equations of wires and strands were derived. We need to optimize the material and the design for these soft wires that used in the Tensegrity structure to be able at the end of the day to make our Robot more robust to control it easily .
Smart Real-time Position and Velocity Tracking System Using Quaternion and MEMS Gyroscope for Tensegrity Robotic locomotor Mechanism
Real time position and velocity accurate tracking enables engineers to simulate and evaluate models more accurately (and helps a lot of other people). A lot of technologies commercially available are used to track position and velocity profiles like gyroscopes and image processing. There are a lot of gyroscopes (mechanical, optical and MEMS gyroscope) we will be focusing on Micro-Electro-Mechanical System (MEMS) Gyroscope. To design a smart and user-friendly system to enable us to track several points at once in real-time. The problem of local and global frames and rotational matrices can be easily tackled if the system tracking is based on Quaternion systems.