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Robot Zoo, Robot Revolution, The Franklin Institute, March 11, 2017
Kod*lab participated in Robot Zoo, a one day event at the Franklin Institute coinciding with the exhibition Robot Revolution. Minitaur and a hopper leg were on site to interact with visitors. Researchers gave insights about our legged robots use for desert research. See the poster here for more information.
Avik De presents "Sequential, Parallel and Symbolic Compositions", a talk for Penn ESE’s PhD Colloquia 2015-16
We propose an abstracted view of behavior development on high DOF robots by composing simpler primitive dynamical systems. Alongside the mature formalism of sequential composition, recent developments in parallel and symbolic composition have enabled empirical demonstration in steady-state (bounding, hopping, etc.) as well as transitional (leaping) problem domains on legged robots. We provide several demonstrations of modular behavior development, with the goal of conveying the utility of this generative point-of-view. In the specific context of parallel composition, we propose a new "synthetic" view of the template--anchor relation as an enhancement of the classical (analytical) view. Specifically, on top of merely being a relation between closed-loop systems, we introduce a reference plant, and a notion of mapping controllers from template to anchor. Additionally, we show that multiple templates can be anchored simultaneously on a robot body (parallel composition) and show two ways in which this modularity can be exploited. The example robot bodies at hand include a tailed hopping robot (Jerboa) and a quadruped with 8 actuated degrees of freedom (Minitaur).
Ben Bernstein, Summer 2015 Undergraduate Research Assistant
This summer I helped design and build a small quadrupedal robot. We iterated through many designs using rapid prototyping methods in order to maximize the abilities of the robot while minimizing weight. I also helped run electromechanical and thermal characterization tests on various motors and performed other design tasks for the lab.
Emily Plumb Wins Y-Prize Competition
Y-Prize-winning robot acquaints students with STEM fields
By Evan LernerÂ
Y-Prize
Y-Prize winners Emily Plumb, left, Gavin Kenneally, and Isabelle Park. Plumb and Kenneally are Penn Engineering graduate students; Park is a graduate student at Wharton. Â
The Y-Prize—an invention and business plan competition sponsored by the Wharton School’s Mack Institute for Innovation Management and the School of Engineering and Applied Science—culminated with a win for a robot designed to introduce students to engineering concepts.
Emily Plumb, a graduate student in the Department of Mechanical Engineering and Applied Mechanics, led this year’s grand finale-winning team, which included engineering consultant Gavin Kenneally, also a mechanical engineering graduate student, and business consultant Isabelle Park, an entrepreneurial management graduate student at Wharton, took home $5,000 in seed money and the opportunity to pitch their product to IPGroup, a British intellectual property commercialization company.
The contest’s name is a riff on the “X-Prize,” which challenges inventors to develop technology to solve some ambitious problem, such as landing a rover on the moon. Conversely, the Y-Prize starts with the technology and asks participants to brainstorm problems that can be solved with it.
In this case, contestants could choose from three robots developed by Penn Engineering’s GRASP Lab: flying quadrotors, an all-terrain hexapod called RHex, and a modular, reconfigurable robotic system known as ckBot. Teams from around the University proposed and refined their ideas for using these robots over the course of the spring semester, with the top four presenting their pitches to a panel of tech industry judges at the grand finale in April.  Â
The winning proposal, called TRHex, is a variant of the ground-pounding robot, designed for use in the classroom. With swappable legs and an intuitive, hands-on way to program the robot’s gait, TRHex’s accompanying curricula would be suited as an introduction to a variety of STEM fields. Â
“The ease of programming the robot is crucial,” Plumb says. “The basic robot will actually come with the gaits pre-programmed and add-ons will help learning. The robot also has interchangeable legs made of different materials to help students understand friction and of different geometries—for example, why is a C-shaped leg better than a rod or an S shaped leg?"
The winning proposal, called TRHex. With swappable legs and an intuitive, hands-on way to program the robot’s gait, TRHex’s accompanying curricula would be suited as an introduction to a variety of STEM fields.
Through experimenting with the number of legs, leg geometry, leg materials, and gait, Plumb says students can begin to decipher the best combinations for moving the robots across different terrains, such as carpet, ice, or rocks, or up different inclines.
Along with experimenting with different legs and surfaces, programming TRHex is a hands-on affair.
“The main difference that makes TRHex so user-friendly is that gaits can be programmed physically instead of using a computer,” Kenneally says. “To do this, you move all the robot's legs to a certain pose, press the record button, move the legs to a second pose, and press the record button again. The robot will then alternate moving between the two poses, resulting in a wide variety of running gaits, turning gaits, or even the robot flipping itself over.”
The three runners-up—Agribots, Inc., EyeFly, and RautoBot—each received $1,000.
Originally published on May 15, 2014
(Reposted from PennCurrent)
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Epic Quadrotor Fails Caught on Video UPenn's GRASP Lab has done some absolutely spectacular things with quadrotors. They've taught them to fly in formation, build structures, and even fling themselves through narrow windows. But as with every learning process, there are going to be some cases where things just don't go quite right, and when you're dealing with fast moving autonomous robots with four spinning rotors apiece, sometimes tests can be, to quote UPenn, "spectacularly unsuccessful":
Smart robot helicopters perform, on their own, the famous James Bond theme.
