Body randomization reduces the sim-to-real gap for compliant quadruped locomotion

Designing controllers for compliant, underactuated robots is challenging and usually requires a learning procedure. Learning robotic control in simulated environments can speed up the process whilst lowering risk of physical damage. Since perfect simulations are unfeasible, several techniques are used to improve transfer to the real world. Here, we investigate the impact of randomizing body parameters during learning of CPG controllers in simulation. The controllers are evaluated on our physical quadruped robot. We find that body randomization in simulation increases chances of finding gaits that function well on the real robot

Simulation of Mechanical Systems With Multiple Frictional Contacts

There are several applications in robotics and manufacturing in which nominally rigid objects are subject to multiple frictional contacts with other objects. In most previous work, rigid body models have been used to analyze such systems. There are two fundamental problems with such an approach. Firstly, the use of frictional laws, such as Coulomb\u27s law, introduce inconsistencies and ambiguities when used in conjunction with the principles of rigid body dynamics. Secondly, hypotheses traditionally used to model frictional impacts can lead to solutions which violate principles of energy conservation. In this paper these problems are explained with the help of examples. A new approach to the simulation of mechanical systems with multiple, frictional constraints is proposed which is free of inconsistencies

Dynamics of Rigid Bodies Undergoing Multiple Frictional Contacts

There are several applications in robotics and manufacturing in which nominally rigid objects are subject to multiple frictional contacts with other objects. In most previous work, rigid body models have been used to analyze such systems. There are two fundamental problems with such an approach. Firstly, the use of frictional laws, such as Coulomb\u27s law, introduce inconsistencies and ambiguities when used in conjunction with the principles of rigid body dynamics. Secondly, hypotheses traditionally used to model frictional impacts can lead to solutions which violate principles of energy conservation. In this paper these problems are explained with the help of examples. A new approach to the simulation of mechanical systems with multiple, frictional constraints is proposed which is free of inconsistencies

Small-body deflection techniques using spacecraft: techniques in simulating the fate of ejecta

We define a set of procedures to numerically study the fate of ejecta produced by the impact of an artificial projectile with the aim of deflecting an asteroid. Here we develop a simplified, idealized model of impact conditions that can be adapted to fit the details of specific deflection-test scenarios, such as what is being proposed for the AIDA project. Ongoing studies based upon the methodology described here can be used to inform observational strategies and safety conditions for an observing spacecraft. To account for ejecta evolution, the numerical strategies we are employing are varied and include a large N-Body component, a smoothed-particle hydrodynamics (SPH) component, and an application of impactor scaling laws. Simulations that use SPH-derived initial conditions show high-speed ejecta escaping at low angles of inclination, and very slowly moving ejecta lofting off the surface at higher inclination angles, some of which re-impacts the small-body surface. We are currently investigating the realism of this and other models' behaviors. Next steps will include the addition of solar perturbations to the model and applying the protocol developed here directly to specific potential mission concepts such as the proposed AIDA scenario.Comment: 19 pages, 11 figures, accepted for publication in Advances in Space Research, Special Issue: Asteroids & Space Debri

HIGH ACCELERATIONS PRODUCED THROUGH SECONDARY IMPACT AND ITS EFFECT ON RELIABILITY OF PRINTED WIRING ASSEMBLIES

The focus of this thesis is the investigation of extremely high accelerations through secondary impact and its effect on reliability of printed wiring assemblies. The test equipment consists of a commercially available drop system and a commercially available attachment termed a Dual Mass Shock Amplifier (DMSA), which extends the impact acceleration range to as much as 30,000 Gs by utilizing secondary impact dynamics. Further secondary impacts between the test vehicle and fixture are intentionally generated in simulation and tested experimentally to imitate board 'slap' phenomena in product assemblies, and to generate even further amplification of the acceleration at various locations on the test specimen. In this thesis a detailed description of the test equipment and modeling techniques are provided. Model complexity ranges from simple analytic closed-form rigid-body mechanics to detailed nonlinear dynamic finite element analysis. The effects of different equipment design parameters (table mass, spring stiffness, table clearance) are investigated through parametric modeling. The effects of contact parameters (constraint enforcement algorithms, stiffness, damping) on model accuracy are explored. Test fixtures for high shock accelerations are discussed and used for board level reliability testing of printed wire assemblies containing WLCSP49s and MEMS microphones