This project has been taken

Dry suits are user-friendly solutions to waterproof robots for amphibious applications. Our lab has previously designed and used dry suits for various limbless and limbed robots. However, tests remain to be done to understand their effects on locomotion. We are also investigating new methods to improve the design and manufacturing process for: (1) stronger resistance to tear, abrasion, and punctures; (2) easier and faster manufacturing processes; and (3) solutions to install smaller-sized wire outlets for sensor applications.

In this project, the student will: (1) work closely with local tailors and manufacturers to find reliable resources of raw materials; (2) design and manufacture sealing structures for various applications in amphibious robots, and (3) perform experiments on their effects on locomotion, such as the change of hydrodynamic drag or joint loads in various conditions.

Thus, we would prefer student that: (1) have a solid background in mechanical design and manufacturing, and (2) can fluent communicate with local businesses in English and French (additionally speaking German and/or Chinese would be a bonus). Students that are interested should send their CVs, transcripts (with relevant courses highlighted), and a brief summary of other relevant experience to the assistants.

Many quadruped robots use simple ball feet while animals usually have complex foot structures. Some studies have tried designing more complex actuated or adaptive feet for quadruped robots. However, few have systematically investigated the benefits of such feet when they are integrated into the robot, especially for the sprawling type quadrupeds. The lack of understanding also exists in animal locomotion because of the complexity and small dimensions of the structure.

To start understanding the role of biomimetic foot structures, this project aims to systematically compare the performance of a salamander robot equipped with ball feet and with passive adaptive feet in both simulation and hardware experiments. A semester project student can choose either one to work on while a master project student needs to do both parts.

For the simulation experiments, the student will: (1) build simplified models of the feet in our Mujoco-based simulation framework, FARMS, (2) optimize the design parameters using optimization or learning algorithms, and (3) compare the results with those using models with ball feet and with data collected in animal experiments. The student is thus required to have basic mechanical design abilities and be familiar with Python programming and optimization/learning algorithms. Students who have taken the Computational Motor Control course would also be preferred.

For the hardware experiments, the student will: (1) design and manufacture the feet based on previous studies, (2) integrate the feet into our salamander robot, and (3) perform systematic tests in different environments. The student is expected to be experienced in mechanical design and manufacturing and have basic knowledge of the mechanics of materials.

Students who are interested in this project shall send the following materials to the assistants: (1) resume, (2) transcript showing relevant courses and grades, and (3) other materials that can demonstrate your skills and project experience (such as videos, slides, Git repositories, etc.). The student should also specify which part of the project (simulation, hardware, or both) they are interested in.