Kinematic Parameter Optimization

Choosing optimal parameters (i.e. number of links, link lengths, mounting positions etc.) that allow compliant robots to move and perform useful tasks efficiently is currently an open area of research. A challenging and important part of this endeavour is defining appropriate metrics used in the optimization routine to distinguish between good and poor designs. Using kinematic models of these soft robots, we can characterize these metrics of interest.  Currently we are investigating metrics related to the stiffness and manipulability of a soft robot's end effector.

Once a set of appropriate metrics has been been defined, we can employ a genetic algorithm to search through many robotic designs and identify the robots that are optimally suited to perform the tasks we care about.  Using multi-objective optimization techniques combined with parallel computing, we can generate many different optimal designs and investigate the trade-offs between the metrics we have defined.
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Soft Continuum-Joint Quadruped Robot Development:
​Soft, legged, mobile bases will allow soft manipulators to be able to move and operate in numerous environments including in homes, in offices, in disaster scenarios, in search and rescue operations, or on other worlds.  Soft robot locomotion is an active area of research.  We are both looking into the design and control of such platforms.  Our current project involves finding the robot design that will allow the quadruped to easily traverse rough terrain and carry the necessary payloads.  This design is being assisted by an evolutionary algorithm.  The robot will be made from pneumatically-actuated, continuum joints manufactured by Pneubotics. ​