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.

Pleurobot is a salamander-inspired robot that is capable of moving in and transitioning between terrestrial and aquatic environments. Some research projects in our lab have demonstrated the effectiveness of vision-guided or human-controlled locomotion transition strategies. However, the present Pleurobot is unable to use similar strategies robustly, especially in outdoor environments, because of lacking vision systems or robust wireless controllers.

In this project, the student will need to add vision systems (e.g., RGB-D camera) for Pleurobot that can operate in amphibious environments. In addition, a robust radio controller is needed to operate the robot in outdoor environments. Alternatively, the student can choose to implement algorithms for the vision system for recognizing terrain and obstacles in real-time. Both systems need to be integrated into the ROS 2 controller running on the onboard computer. The major challenges include the requirements for waterproofing, the limited space for electronics, and the fusion of multiple sensory systems in an embedded system.

The student is expected to have a solid background in circuit design for embedded systems, firmware programming, and familiarity with ROS 2. The student who is interested in this project could send his/her transcript, CV, and materials that can demonstrate his/her past project experience to qiyuan.fu@epfl.ch.