Body Lift and Drag for a Legged Millirobot in Compliant Beam Environment

Much current study of legged locomotion has rightly focused on foot traction forces, including on granular media. Future legged millirobots will need to go through terrain, such as brush or other vegetation, where the body contact forces significantly affect locomotion. In this work, a (previously developed) low-cost 6-axis force/torque sensing shell is used to measure the interaction forces between a hexapedal millirobot and a set of compliant beams, which act as a surrogate for a densely cluttered environment. Experiments with a VelociRoACH robotic platform are used to measure lift and drag forces on the tactile shell, where negative lift forces can increase traction, even while drag forces increase. The drag energy and specific resistance required to pass through dense terrains can be measured. Furthermore, some contact between the robot and the compliant beams can lower specific resistance of locomotion. For small, light-weight legged robots in the beam environment, the body motion depends on both leg-ground and body-beam forces. A shell-shape which reduces drag but increases negative lift, such as the half-ellipsoid used, is suggested to be advantageous for robot locomotion in this type of environment.Comment: First three authors contributed equally. Accepted to ICRA 201

Push recovery with stepping strategy based on time-projection control

In this paper, we present a simple control framework for on-line push recovery with dynamic stepping properties. Due to relatively heavy legs in our robot, we need to take swing dynamics into account and thus use a linear model called 3LP which is composed of three pendulums to simulate swing and torso dynamics. Based on 3LP equations, we formulate discrete LQR controllers and use a particular time-projection method to adjust the next footstep location on-line during the motion continuously. This adjustment, which is found based on both pelvis and swing foot tracking errors, naturally takes the swing dynamics into account. Suggested adjustments are added to the Cartesian 3LP gaits and converted to joint-space trajectories through inverse kinematics. Fixed and adaptive foot lift strategies also ensure enough ground clearance in perturbed walking conditions. The proposed structure is robust, yet uses very simple state estimation and basic position tracking. We rely on the physical series elastic actuators to absorb impacts while introducing simple laws to compensate their tracking bias. Extensive experiments demonstrate the functionality of different control blocks and prove the effectiveness of time-projection in extreme push recovery scenarios. We also show self-produced and emergent walking gaits when the robot is subject to continuous dragging forces. These gaits feature dynamic walking robustness due to relatively soft springs in the ankles and avoiding any Zero Moment Point (ZMP) control in our proposed architecture.Comment: 20 pages journal pape

Active vibration control in microgravity environment

The low gravity environment of the space station is suitable for experiments or manufacturing processes which require near zero gravity. An experiment was fabricated to test the validity of the active control process and to verify the flow and control parameters identified in a theoretical model. Zero gravity is approximated in the horizontal plane using a low friction air bearing table. An analog control system was designed to activate calibrated air jets when displacement of the test mass is sensed. The experiment demonstrates that an air jet control system introduces an effective damping factor to control oscillatory response. The amount of damping as well as the flow parameters, such as pressure drop across the valve and flow rate of air, are verified by the analytical model

A high performance scanning force microscope head design

A stable and highly sensitive scanning force microscope head design is presented. The head provides an implementation of the optical lever detection method in which mechanical vibration noise has been minimized

User friendly joystick

A joystick control device having a lower U-shaped bracket, an upper U-shaped bracket, a handle attached to the upper U-shaped bracket, with the upper U-shaped bracket connected to the lower U-shaped bracket by a compliant joint allowing six degrees of freedom for the joystick. The compliant joint consists of at least one cable segment affixed between the lower U-shaped bracket and the upper U-shaped bracket. At least one input device is located between the lower U-shaped bracket and the upper U-shaped bracket

A picogram and nanometer scale photonic crystal opto-mechanical cavity

We describe the design, fabrication, and measurement of a cavity opto-mechanical system consisting of two nanobeams of silicon nitride in the near-field of each other, forming a so-called "zipper" cavity. A photonic crystal patterning is applied to the nanobeams to localize optical and mechanical energy to the same cubic-micron-scale volume. The picrogram-scale mass of the structure, along with the strong per-photon optical gradient force, results in a giant optical spring effect. In addition, a novel damping regime is explored in which the small heat capacity of the zipper cavity results in blue-detuned opto-mechanical damping.Comment: 15 pages, 4 figure

Analysis of pogo on the space shuttle: Accumulator design guidelines and planar multiengine model development

The design guidelines were generated to support the selection of the baseline accumulator configuration for the space shuttle. They were based upon the elimination of the instabilities that had been predicted for the shuttle system (in the absence of accumulators) using the single-engine model. The multiengine pitch plane stability model was subsequently developed to enable a more refined analysis of the pogo problem. The results obtained with this refined model, in the absence of accumulators, indicated a generally stable system. However, it was found that reasonable adjustment of the axial motion of the feedline aft support on the external tank could induce instability of the system. This instability was eliminated by the addition of high-pressure oxidizer turbopump inlet accumulators to the system. The results obtained with the refined model did not suggest a need to alter the design guidelines that had been obtained previously. The analyses with the multiengine model also treated the question of the use of a phase margin in the system stability requirements