OpenMutt - 3D Printed Robotic Quadruped

The objective of the OpenMutt project is to build a modular, open-source quadruped as a multidisciplinary research testbed for students and faculty. The design is based on proven models, including the MIT Mini-Cheetah, NYU Open Dynamic Robot, and Bruton’s openDogV3, with modifications to decrease manufacturing time and cost. OpenMutt utilizes 12 brushless motors, each attached to a cycloidal gearbox for actuation. The quarter model has three degrees of freedom, translational and rotational. A remote control will be used for general movement with impedance and PID controllers for torque and joint control. The majority of parts were additively manufactured with Fused Deposition Modeling(FDM) printers using Polylactic Acid(PLA) and Thermoplastic Polyurethane(TPU). A power supply will be used for quarter model testing, while the full model will use an onboard battery with the battery-management system (BMS). Due to the 13:1 gear ratio of the cycloidal gearbox, motors like the ones selected are adaptable to the model. The purpose behind the application of these methods is to ensure a platform that is easy to construct, iterate and learn with

OpenMutt - 3D Printed Robotic Quadruped

Embry-Riddle Aeronautical University is seeking a robotic dog as a research avenue for different biomechanical designs, control systems, and robotic designs for experimentation and study. The quadruped is based on several open-source platforms including James Bruton’s openDogV3, the MIT Mini-Cheetah, and the NYU Open Dynamic Robot Initiative. The implementation of this research will begin with a quarter model, consisting of a singular leg from the hip to the foot. The leg will be mounted on a benchtop test stand that allows for controlled movement and accessible experimentation. The leg will be separate from the full-model quadruped strictly for experimentation and any full-model revisions. The OpenMutt’s quarter model uses 3 Brushless DC Electric Motors (BLDC) attached to 3 cycloidal gearboxes as its main form of actuation. The majority of parts were manufactured using Polylactic Acid (PLA). Some leg testing has already been completed, but a synchronized movement is yet to be completed

Tensile Testing of 3D Printed TPU Samples for Pediatric Biomaterial Applications

Additive Manufacturing (AM) has, in recent years, become one of the most widespread and preferred prototyping methods. The most popular additive manufacturing method is Fused Deposition Modeling. FDM’s popularity is primarily attributed to its 3 major strengths of rapid prototyping, variability in material choice, and subject specific nature. The medical industry is one of the larger industries that has benefited from 3D printing especially in the terms of medical trainers. Unfortunately, most medical trainers that are developed (either being 3d printed or through traditional manufacturing processes) are poor substitutes for the human body. This can be attributed to either a poor design or poor material choice. FDM printing is the obvious solution to these issues, but one of the largest problems in 3D printing for engineers is that the properties of most filaments after extrusion are not well-known. Additionally, 3D prints are rarely 100% solid in FDM which makes assuming the material properties of the base materials inaccurate. This project seeks to test 3D printed samples at numerous different infills of a common 3D printing material known as Thermoplastic Polyurethane of TPU using ASTM D638. The test samples will be printed across numerous printers with the same settings to determine whether different printers influence the material properties after a print. Once tensile testing has been completed the curves will be imported into an FEA software to be tested on numerous bone geometries to determine if TPU is a suitable material to use to mimic pediatric bones

Integrated Spacecraft Autonomous Attitude Control (ISAAC)

The purpose of this project is to give undergraduate students an opportunity to design, manufacture, and maintain a mock spacecraft to be used as a testbed for autonomous control systems. The spacecraft is based on two previous models: the JX-01, an undergraduate built testbed, and the Asteroid Free Flyer led by NASA engineer and ERAU doctoral student, Michael Dupuis. This model includes cable improvements, Inertial Measurement Units (IMU), Light Detection and Ranging (LIDAR), and object-based state estimation to improve control stabilization. When completed, the hardware built for this project will provide undergraduates and researchers a platform with which they can test control algorithms and spacecraft component design. The results gathered from the project thus far is the building and design and controls experience between the team. After completion we will be able to obtain a properly modeled control algorithm and test it against multiple conditions. The final goal of the spacecraft is to provide the capabilities and perform experiments to test multiple methods to mitigate the effects of internal and external forces such as fuel sloshing, solar radiation, debris collision, and CG change

Integrated Spacecraft Autonomous Attitude Control (ISAAC)

The purpose of this project is to give undergraduate students an opportunity to design, manufacture, and maintain a mock spacecraft to be used as a testbed for autonomous control systems. The spacecraft is based on two previous models: the JX-01, an undergraduate built testbed, and the Asteroid Free Flyer led by NASA engineer and ERAU doctoral student, Michael Dupuis. This model includes cable improvements, Inertial Measurement Units (IMU), Light Detection and Ranging (LIDAR), and object-based state estimation to improve control stabilization. When completed, the hardware built for this project will provide undergraduates and researchers a platform with which they can test control algorithms and spacecraft component design. The results gathered from the project thus far is the building and design and controls experience between the team. After completion we will be able to obtain a properly modeled control algorithm and test it against multiple conditions. The final goal of the spacecraft is to provide the capabilities and perform experiments to test multiple methods to mitigate the effects of internal and external forces such as fuel sloshing, solar radiation, debris collision, and CG change

Soft Robotic Arm for Construction Drones

This soft robotic arm is specifically designed for construction drones to be used in place of scaffolding. The Soft robotic arm for construction drones known as SCRAD is a two-link robotic arm that is actuated through the usage of Fluid-driven Origami Artificial Muscles (FOAMs). The FOAMS are comprised of 3d printed skeleton and plastic sheath that can then be actuated with the introduction of vacuum pressure. The arm design, excluding its external hardware, weighs approximately 2.16 pounds encompassing its two links, universal jamming gripper, and mounting hardware, making it highly viable for mounting on a medium-sized drone. The FOAMs can each pull up to 5.5 pounds at -80 KPa of vacuum relative to the atmosphere, allowing for manipulating small tools and parts. The linear controls that have been applied to the platform include a basic negative feedback loop and PID controller with great success. The project also has plans to expand in to the testing to non-linear controls of the system to increase the accuracy of the systems control of the arm

Omni-usability Soft Robotic Exoskeleton Phase 2

The overarching concept of the Omni-usability Soft Robotic Exoskeleton (OSRE) phase 2 is to still create a safe exoskeleton platform that can be used in various fields by simply changing the programming based on the desires or needs of the user. The OSRE in phase 2 will use Mckibben muscles in conjunction with Origami soft muscles to mimic the body\u27s natural muscle groups more effectively than in phase 1. This would allow for more developed and complex movement when used as opposed to phase 1 by using this hybrid soft robotic system. The movement is stimulated by reading the electromyographical signals given off by the user\u27s muscles, but it can also be used by having preset programs. This platform also acts as a testing bed for control algorithms concerning soft robotics with the planes to implement non-linear control on the soft robotic exoskeleton

Omni-usability Soft Robotic Exoskeleton Phase 2

The overarching concept of the Omni-usability Soft Robotic Exoskeleton (OSRE) phase 2 is to still create a safe exoskeleton platform that can be used in various fields by simply changing the programming based on the desires or needs of the user. The OSRE in phase 2 will use Mckibben muscles in conjunction with Origami soft muscles to mimic the body\u27s natural muscle groups more effectively than in phase 1. Two strategies are being used to achieve this to control the more complex movement. The first is to rebase the controls in a quaternion coordinate system using the sliding mode controller we have currently developed. This will be done to simplify the controls and account for the rotations added by the Origami muscles. The other strategy is to design a controller to determine the movement is stimulated by reading the electromyographical signals given off by the user\u27s muscles, but it can also be used by having preset programs. This platform also acts as a testing bed for control algorithms concerning soft robotics with the planes to implement non-linear control on the soft robotic exoskeleton