Engineering Commons^™

Flexible Strain Gauge Sensors As Real-Time Stretch Receptors For Use In Biomimetic Bpa Muscle Applications, Rochelle Jubert

Student Research Symposium

This work presents a novel approach to real-time length sensing for biomimetic Braided Pneumatic Actuators (BPAs) as artificial muscles in soft robotics applications. The use of artificial muscles enables the development of more interesting robotic designs that no longer depend on single rotation joints controlled by motors. Developing robots with these capabilities, however, produces more complexities in control and sensing. Joint encoders, the mainstay of robotic feedback, can no longer be used, so new methods of sensing are needed to get feedback on muscle behavior to implement intelligent controls. To address this need, flexible strain gauge sensors from Portland company, …

3d-Printed Leg Design And Modification For Improved Support On A Quadruped Robot, Jasmin S. Collins

Undergraduate Research & Mentoring Program

The Agile and Adaptive Robotics Lab aims to uncover the biological and physiological complexities in animal agility and adaptive control, which can be replicated through robotics and provide further applications in biology and medicine. One project within the lab focuses on understanding structure, actuation, and control through the modeling of a canine quadruped robot.

The AARL has developed a full-body quadruped robot with artificial muscles that control limb movement and a body that is built from 3D-printed parts. This specific project involved modification of these existing parts to (a) minimize deflections in the front legs, causing unwanted lateral and abduction/adduction …