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, we have had several projects designing passive feet for our salamander-inspired robots. This project aims to further extend the results by improving the design and more systematically collecting data in different environments.

The semester student will: (1) improve the design of the feet based on previous studies, (2) perform systematic tests in different environments, and (3) analyze the results. The student is expected to be experienced in mechanical design and manufacturing, Python programming, and robot kinematics. Knowledge of robot dynamics and elastic rod theories is also helpful.

If the student aims to finish a master's thesis based on this project, the student needs to additionally finish one of the following tasks: (1) model the passive feet dynamics from first principles or neural networks, (2) develop novel sensors to monitor the states of the feet, (3) design novel structures to integrate the design with the entire leg.

Students who are interested in this project shall send the following materials to the assistant: (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.).

This project has been taken

Robots can be useful tools to study animal locomotion in physical environments. However, present robot actuators can barely reach the high power density of animal muscles. In addition, the differences in the morphologies of motors and muscles lead to differences in the geometry and dynamics between robots and animals. Cable-driven mechanisms offer a promising way to bridge the gap, because they enable more flexible placement of actuators and integration of mechanisms similar to animal musculoskeletal systems.

In this project, the student will refine the design of a cable-driven leg for our salamander robots. The objectives are to reduce the weight and rotational inertia, reduce the size, and increase output torque along different axes. The design needs to be rigorously tested in a standalone setup and on the real robot.