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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