At National University of Singapore, I developed a compliant Cat-inspired robot. The Robot used Central Pattern Generators (CPG) with various sensors on-board such as contact sensors, accelerometer, gyroscope, magnetometer, spring force sensor (novel) along with compliant joints for hip flexion. My research was based on gait-optimization techniques for cpg based control of the robot while reducing the energy consumption. The minimum Cost of Transport recorded was 6 J/N/m at 52cm/s.
The following video shows the cat robot run at 52cm/s.
The following video shows an IMU based pitch and roll balancing simultaneously
The following video shows the robot walk at approximately 5cm/s.
The following video shows android controlled movement of the robot.
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