Robots offer great promise in assisting search-and rescue operations in extremely uncertain and cluttered environments after a variety of disasters. The simple structure of a snake robot has the capability to traverse complex, constrained, 3-D environments (small gaps, tough terrain). Snake robots have been developed using traditional robotic structures composed of rigid links and discrete joints, though capable of snake-like motion, suffer from a…
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To combine the flexibility of soft robotics and the portability and efficiency of traditional electrical actuation, I took part in designing and controlling this self-contained, lightweight, low cost and flexible origami robotic snake (OriSnake). Note: Origami is the Japanese art of creating structures and objects by folding paper. Taking inspiration from this technique, we can create…
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Accomplished: 2-D soft robotic snake model and validate (already finished, paper submitted to 2019 ICRA) 2-D soft robotic snake motion planning (finished, submitted to IJRR journal) Ongoing: 1. 3-D curvature sensor：making modules, prepare to make a chain and experiment, then write a paper. 2. SMA actuator chain: modules already fabricated, single module experiment already accomplished,…
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During part of my undergraduate time(2013-2015), I was making a startup with friends from our robotic club, and beside of the main projects we employed in the company, there were some other products we designed. One of my ideas is the small rescue robot. The idea come from the news that in 2013 there were…
DetailsThis is the main product of the startup in my undergraduate time(2013-2016). I mainly responsible for the electrical part (including main controller design, modules&sensors development), help with the mechanical design and the software development. 1.A version of control board schematic I had patents for utility models with others in servos and robot structure. 2.Some…
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This is my undergraduate thesis project guided by Prof. Feng (based on China NSF 61074015). 1.Main target : Use a high-order sliding mode control strategy to control an induction motor servomechanism with a terminal sliding mode observer to see the parameters in real time and simulate to analyze its performance. 2.Controller: First, build the induction…
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In this project(2013-2015), I and other members from IRC designed a general version of four-feet robot with a steady electrical system. Then based on different creatures, we changed the structure and made them into several kinds of robots, including dog, panda, etc. There are two kinds of material for the robot: Acrylonitrile-butdiene-styrene(abs) and Aluminum alloy.…
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During the development of multi-feet and humanoid robot (2013-2016), I also developed some other modules that increase the functionality and playability of the robot. 1. Voice recognition module based on chip LD3320 Schematic and real one: 2. Voice record and play based on ISD1820 Schematic and real object: 3. 2.4G Wireless send and receive module…
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In the student training program(2013-2014), I designed an all terrain robot with two pedrail attached to its chassis, and used many sensors to achieve various functions. It could be controlled by voice, bluetooth, 2.4g with the remoter I designed. Also it was equipped with a camera with a WIFI board through which we could watch…
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This project is for Heilongjiang Province Undergraduate Electronic Design Contest in 2014, as a group of 3, we built a metal detector with a four-bar metal frame which can detect the metal in a fixed size area. We use the module AY-LDC1000, 2 stepping motors with driver STP-MD415 and STM32F103Rx as microcontroller. The goal is to detect…
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The project is based on WPI RBE 502 course ‘robot control’, the goal of this project is to realize the auto balance and trajectory tracking of an abstract bicycle. Given a trajectory of the pose (x, y, 𝜃) of the motorcycle, design a controller for inputs of the driving torque and steering angle to make…
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This project is based on WPI RBE 501 Robot Dynamics. The ABB IRB 120 will perform three automated functions to solder a multi-pin surface mount (e.g. SOIC-20) to a PCB Solder paste application to PCB IC placement on PCB Heat application to pins using hot air pencil Design and manufacture custom end effectors Refinement of…
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This project is based on WPI RBE 549 Computer Vision. The aim is to create an algorithm to distinguish images of dogs from cats. During the project two classifiers are used, CNN (Tensorflow) and SVM (Scikit-learn). Dataset: Kaggle’s official competition dataset Asirra; In this project, our team also use several enhancement methods together with Support Vector…
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This is a project from WPI CS 509 Software Design. This system will have the ability to allow clients to search flights based on their requirements such as departure or arrival airport, departure or arrival time or perspective time windows within each. It will display appropriate flights based on the client’s requirements, showing nonstop flights…
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