The UCSD Coordinated Robotics Lab develops small, simple robots that can overcome large, complex obstacles. Ultimately, we expect the development of such miniature agile robots to enable a host of new applications, including what we believe to be the next major Killer App in Robotics: 3D Mapping.
In short, our strategy to achieve enhanced agility with miniature robots is threefold:
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1)Roll wherever possible (usually, it is) using relatively large wheels or treads. Rolling is generally much more efficient and simple than walking, hopping, and flying, and facilitates efficient loitering.
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2)Use novel multifunctional mechanisms. For example, the two main wheels used for driving and steering when roving can also be used as reaction wheels and counter-weights when balancing and hopping.
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3)Apply advanced dynamic modeling and sophisticated closed-loop feedback control (that is, STAND UP! JUMP!). By so doing, we trade static stability for greatly enhanced agility.
For example, in the cartoon illustrated below left (prepared as a final exam question for Bewley’s MAE143c class in April 2003, and which ultimately served as the springboard which started our lab), two large wheels drive the vehicle in a tank-like fashion when in horizontal roving mode, and can be torqued backwards to self-upright the vehicle into a vertical (that is, segway-like) roving mode. Finally, a spring-loaded leg can be released on demand to initiate a hopping motion, which can be executed continuously (as with a child’s pogo stick) or in isolation (with the mechanism catching itself after a single hop is complete and the spring re-tensioned, in preparation for the next hop). The latter capability facilitates, after a running start, the dramatic “pit of fire” jump illustrated below right, which can be used to minimize the exposure of the robot to danger when operating in a hazardous environment.
Our lab is developing and refining many distinct robot designs in this general direction. Three recent (patent pending) prototypes, iHop, Switchblade, and iceCube, are illustrated below (click each for further information).
We are actively seeking new academic and industrial partners. If you are interested in getting involved, please contact us!
