A Novel Design and Evaluation of a Dactylus-Equipped Quadruped Robot for Mobile Manipulation

Quadruped robots are usually equipped with additional arms for manipulation, negatively impacting price and weight. On the other hand, the requirements of legged locomotion mean that the legs of such robots often possess the needed torque and precision to perform manipulation. In this paper, we present a novel design for a small-scale quadruped robot equipped with two leg-mounted manipulators inspired by crustacean chelipeds and knuckle-walker forelimbs. By making use of the actuators already present in the legs, we can achieve manipulation using only 3 additional motors per limb. The design enables the use of small and inexpensive actuators relative to the leg motors, further reducing cost and weight. The moment of inertia impact on the leg is small thanks to an integrated cable/pulley system. As we show in a suite of tele-operation experiments, the robot is capable of performing single- and dual-limb manipulation, as well as transitioning between manipulation modes. The proposed design performs similarly to an additional arm while weighing and costing 5 times less per manipulator and enabling the completion of tasks requiring 2 manipulators.Comment: 6 pages, 10 figures, updated layout to fit in margins and corrected typos, accepted to the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022

Hybrid optical and magnetic manipulation of microrobots

Microrobotic systems have the potential to provide precise manipulation on cellular level for diagnostics, drug delivery and surgical interventions. These systems vary from tethered to untethered microrobots with sizes below a micrometer to a few microns. However, their main disadvantage is that they do not have the same capabilities in terms of degrees-of-freedom, sensing and control as macroscale robotic systems. In particular, their lack of on-board sensing for pose or force feedback, their control methods and interface for automated or manual user control are limited as well as their geometry has few degrees-of-freedom making three-dimensional manipulation more challenging. This PhD project is on the development of a micromanipulation framework that can be used for single cell analysis using the Optical Tweezers as well as a combination of optical trapping and magnetic actuation for recon gurable microassembly. The focus is on untethered microrobots with sizes up to a few tens of microns that can be used in enclosed environments for ex vivo and in vitro medical applications. The work presented investigates the following aspects of microrobots for single cell analysis: i) The microfabrication procedure and design considerations that are taken into account in order to fabricate components for three-dimensional micromanipulation and microassembly, ii) vision-based methods to provide 6-degree-offreedom position and orientation feedback which is essential for closed-loop control, iii) manual and shared control manipulation methodologies that take into account the user input for multiple microrobot or three-dimensional microstructure manipulation and iv) a methodology for recon gurable microassembly combining the Optical Tweezers with magnetic actuation into a hybrid method of actuation for microassembly.Open Acces

Path and Motion Planning for Autonomous Mobile 3D Printing

Autonomous robotic construction was envisioned as early as the ‘90s, and yet, con- struction sites today look much alike ones half a century ago. Meanwhile, highly automated and efficient fabrication methods like Additive Manufacturing, or 3D Printing, have seen great success in conventional production. However, existing efforts to transfer printing technology to construction applications mainly rely on manufacturing-like machines and fail to utilise the capabilities of modern robotics. This thesis considers using Mobile Manipulator robots to perform large-scale Additive Manufacturing tasks. Comprised of an articulated arm and a mobile base, Mobile Manipulators, are unique in their simultaneous mobility and agility, which enables printing-in-motion, or Mobile 3D Printing. This is a 3D printing modality, where a robot deposits material along larger-than-self trajectories while in motion. Despite profound potential advantages over existing static manufacturing-like large- scale printers, Mobile 3D printing is underexplored. Therefore, this thesis tack- les Mobile 3D printing-specific challenges and proposes path and motion planning methodologies that allow this printing modality to be realised. The work details the development of Task-Consistent Path Planning that solves the problem of find- ing a valid robot-base path needed to print larger-than-self trajectories. A motion planning and control strategy is then proposed, utilising the robot-base paths found to inform an optimisation-based whole-body motion controller. Several Mobile 3D Printing robot prototypes are built throughout this work, and the overall path and motion planning strategy proposed is holistically evaluated in a series of large-scale 3D printing experiments

Textiles as Material Gestalt: Cloth as a Catalyst in the Co-designing Process

Textiles is the common language within Emotional Fit, a collaborative research project investigating a person-centred, sustainable approach to fashion for an ageing female demographic (55+). Through the co-designing of a collection of research tools, textiles have acted as a material gestalt for exploring our research participants' identities by tracing their embodied knowledge of fashionable dress. The methodology merges Interpretative Phenomenological Analysis, co-design and a simultaneous approach to textile and garment design. Based on an enhanced understanding of our participants textile preferences, particular fabric qualities have catalysed silhouettes, through live draping and geometric pattern cutting to accommodate multiple body shapes and customisation. Printedtextiles have also been digitally crafted in response to the contours of the garment and body and personal narratives of wear. Sensorial and tactile interactions have informed the engineering and scaling of patterns within zero-waste volumes. The article considers the functional and aesthetic role of textiles

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

Microfluidics and Bio-MEMS for Next Generation Healthcare.

Ph.D. Thesis. University of Hawaiʻi at Mānoa 2018

Realization of the true 3D printing using multi directional wire and arc additive manufacturing

Robotic wire and arc based additive manufacturing has been used in fabricating of metallic parts owing to its advantages of lower capital investment, higher deposition rates, and better material properties. Although many achievements have been made, the build direction of Wire Arc Additive Manufacturing (WAAM) is still limited in the vertical up direction, resulting in extra supporting structure usage while fabricating metallic parts with overhanging features. Thus, the current WAAM technology should be also called 2.5D printing rather than 3D printing. In order to simplify the deposition set up and increase the flexibility of the WAAM process, it is necessary to find an alternative approach for the deposition of ‘overhangs’ in a true 3D space. This dissertation attempts to realize true 3D printing by developing a novel multi directional WAAM system using robotic Gas Metal Arc Welding (GMAW) to additively manufacture metal components in multiple directions. Several key steps including process development, welding defect investigation and avoidance, and robot path generation are presented in this study