UCSD Coordinated Robotics Lab

 
          NEWS FLASH!! Christopher Schmidt-Wetekam Sweeps Awards at the UCSD Jacobs School Research Expo (Feb 2008) Christopher Schmidt-Wetekam, a PhD student in the UCSD Coordinated Robotics Lab, swept up the top honors at the UCSD Jacobs School Research Expo from the Controls Center, the MAE Department, and the Jacobs School, for his work in developing highly agile autonomous robotic systems.  For more info, see the story on this project that aired on KPBS. Dynamic, fun-loving robot seeks canine, and human, companions Researchers at the UCSD Coordinated Robotics Lab are teaching iHop, a hopping, miniature-aussi-sized three-wheeled rover, to perform tricks that will send other robots off with their tails between their legs. Overview and technology In addition to rolling around on all of her wheels like a stable rover,  iHop balances, on both her back two wheels and on her toe, and even jumps and twists in mid-air by pushing against her reaction wheels.  Thanks to her patented spring-loaded dual four-bar hopping mechanism, iHop always has plenty of energy stored up for jumping on command.  iHop’s coordinated moves are made possible by her inner ear, which is packed with MEMS (Micro-Electro-Mechanical Systems) gyroscopes and accelerometers.  This, in turn, feeds sophisticated on-board attitude estimation and stabilization algorithms in iHop's carefully designed brain. Applications iHop's life-like moves lend her well to a variety of applications for engaging play, such as fetching and throwing miniature tennis balls for Prof. Bewley’s miniature aussi, Checkers. However, don’t be misled by iHop’s playful demeanor: her combination of simplicity, efficiency, and maneuverability make iHop an appealing miniature candidate for several non-miniature missions in the search and rescue, defense, and homeland security sectors. New directions New mechanical components and control algorithms are currently being developed for iHop’s newest tricks, such as efficiently hopping up and down stairs. We are also developing iLean, iHop's non-hopping little sister, who mounts obstacles by first standing up high on her toe, then leaning onto the top of the obstacle.  We are also exploring exciting new robot designs which can’t yet be revealed here. Funding iHop was borne out of seed funding from the LANL/UCSD Engineering Instutute, and was subsequently developed further under a commercialization grant by the von Liebig Center for Entrepreneurism and Technology Advancement.  Contact us today if you want to get involved!  http://www.jacobsschool.ucsd.edu/news/news_releases/release.sfe?id=718http://www.kpbs.org/news/local;id=10979iHop.htmlMechatronics.htmlMechatronics.htmlhttp://renaissance.ucsd.edu:16080/~robot/iLean.htmlhttp://www.lanl.gov/projects/ei/http://www.vonliebig.ucsd.edu/http://fccr.ucsd.edu/shapeimage_2_link_0shapeimage_2_link_1shapeimage_2_link_2shapeimage_2_link_3shapeimage_2_link_4shapeimage_2_link_5shapeimage_2_link_6shapeimage_2_link_7shapeimage_2_link_8