Biomimetic Robots for Robust Operation in Unstructured Environments
Main ideas:
Status - Locomotion
MURI Interactions: Areas and Leadership
Neuro-Mechanical Model
Contribution to Control
PPT Slide
Discoveries
Leg Stiffness
Impact on Deliverables
Micromachined Force Sensor for Adhesion Force Measurement of Single Gecko Setae
Relating Limb Impedance and Learning
Results
Human Arm Motor Control Model
Implications for Robot Control
Impedance in Manipulation
Variable Impedance Manipulation Testbed
Goal: Minimum Impedance Grasping and Maniplation
Objectives
Initial Focus: Leg Mechanism
1-DOF Linkage Design Example
Application: Small robots with embedded sensors and actuators
Shape Deposition Manufacturing (CMU/SU)
Robot leg example (http://cdr.stanford.edu/biomimetics)
Robot Leg: embedded parts
Different Sensors and Actuators have different considerations for embedding, generally these include:
Email: baileys@cdr.stanford.edu
Home Page: cdr.stanford.edu/biomimetics
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