Mechanical Engineering Commons^™

Design, Manufacturing, And Assembly Of Modular Snake-Like Robotic Arm, Alongside Design And Implementation Of System’S Digital-Twin, Scott Brown

Master's Theses

A unique modular snake-like robotic arm, also referred to as MA\RS – the Modular Arm \ Robotic System - was designed, manufactured, assembled, simulated, and programmed to create a modular robot which could move to a desired end position given the number of links, the position of the end link and the duration of motion. This robotic arm serves as the start of research into a modular space robotic system to be used in low-gravity environments. As such, this project focused on developing the initial design of the robot and its digital twin. The system’s modularity allows for changes to …

Pseudo Gps For Romi, Emmanuel Baez, Owen Guinane, Gabriel Coria, Conor Schott

Mechanical Engineering

The Pseudo-GPS system for Romi robots addresses the need for precise real-time location tracking in Cal Poly's Mechatronics lab. This project, developed by Emmanuel Baez, Gabriel Coria, Owen Guinane, and Conor Schott, under the guidance of instructor Charlie Refvem, provides a proof-of-concept system to enhance the Romi robots' geolocation capabilities for advanced robotic algorithms.

The proposed system uses a Raspberry Pi 4 equipped with a Pi camera module and ArUco markers to track the position and orientation of Romi robots within a lab environment. Custom 3D-printed stands secure markers on the robots, and a designated origin marker defines the coordinate …

End-To-End Learning For A Low-Cost Robotics Arm, Abhishek Chothani

Theses and Dissertations

Robotic manipulation is a cornerstone of automation, with the ultimate goal of developing versatile systems capable of executing a wide range of real-world tasks autonomously. Traditional robotics approaches, while reliable and widely adopted in industrial settings, often struggle with adaptability, perception, and dynamic task execution. This thesis explores the evolution from classical robotics techniques to modern learning-based approaches, leveraging advancements in artificial intelligence to overcome these limitations.

Initially, the thesis presents a pick-and-place pipeline built using the Drake robotics framework and the KUKA iiwa robotic arm. This system employs a pseudoinverse controller for inverse kinematics to perform structured tasks like …

Mechanically Cost-Effective Approach For Bipedal Walking In Robots Using Instantaneous Collision Angle, Smit R. Patel

UNLV Theses, Dissertations, Professional Papers, and Capstones

Humans, as bipedal locomotors, are effective at reducing the mechanical cost of transport (CoTmech) by adopting movement strategies and gaits that minimize energy expenditure for a given distance. By using different gaits at different speeds, leveraging their long spring-like tendons and muscle elasticity which store and release energy during movement, humans reduce the mechanical effort required for locomotion. Current locomotion solutions offered in bipedal robots, based on legacy walking and running gait models, are not great at energy efficiency unless walking at very low speeds. Additionally, the control system of robots, designed to ensure stability and adaptability, requires substantial resources, …

Improving Robustness Of Learning-Based Approaches In Autonomous Systems And Engineering Education, Godwyll Aikins

Theses and Dissertations

This dissertation advances the development of robust learning-based approaches across two complementary domains: engineering education and autonomous systems. Through four studies, this research addresses critical challenges in preparing data-proficient engineers and developing reliable autonomous systems that can operate under uncertainty and incomplete information. The engineering education study examines how mechanical and aerospace engineering undergraduates conceptualize and develop data proficiency skills essential for modern engineering practice. Through interviews with 27 students, the research employs the How People Learn framework to analyze student perspectives on information literacy, data interpretation, and computational thinking. The findings inform pedagogical strategies for developing data proficiency in …

Collaborative Robotics: Application Of Delphi Method, Jean-Marc Salotti, Ephraim Suhir

Mechanical and Materials Engineering Faculty Publications and Presentations

In the domain of collaborative robotics, it is often needed to make complex multiparametric choices or assessments that combine heterogeneous criteria, such as task performance, reliability, safety, and ergonomics. The Delphi method, a process of arriving at group consensus by providing experts with rounds of questionnaires, as well as the group response before each subsequent round, can be applied to solve this type of problems. The following Delphi method efforts are addressed in our analysis with application to finding appropriate criteria and their relative weights for the evaluation of the teleoperation task of a robotic platform: (1) Contribution of experts; …

Computer Vision In A Robotic Arm, Jack Maxwell

College of Engineering Summer Undergraduate Research Program

We used a machine learning-based object detection algorithm to give a robotic arm the ability to "see" with its camera.

Impact-Free Gaits For Planar Bipeds: Changing Walking Speed And Gait, Aakash Khandelwal, Nilay Kant, Ranjan Mukherjee

Mechanical and Aerospace Engineering Faculty Research & Creative Works

The problems of changing the walking speed and stride length of impact-free gaits for point-foot planar bipeds are addressed. The impact-free gaits are designed using an approach developed in prior work. It is shown that the impulse controlled Poincaré map (ICPM) approach can be modified to transition between orbits defining gaits with different walking speeds, and the continuous controller can be changed during the swing phase to transition between gaits that have distinct stride lengths. The effectiveness of the approaches is demonstrated using simulations carried out on a five-link biped.

Improving Biomimetic Passive Dynamics Of A Quadruped Robot Hind Leg Hip Joint With A 3d Printed Torsion Spring, Haonan Zheng

Dissertations and Theses

The Agile and Adaptive Robotics Lab is interested in researching the neuromuscular control network of legged animal locomotion. To validate the lab's understanding of biological neural control, synthetic neural networks are developed and applied to biologically inspired legged robots. For a synthetic neural network to operate in the same manner as a biological neural network and produce the same locomotor behavior, the robot that the synthetic neural network is controlling must also mimic its biological counterpart. Previous research produced a quadruped robot hind leg designed with biomimetic passive dynamics by installing spring and damper pairs at each joint, however, an …

Development Of A Rule-Based Monitoring System For Autonomous Heavy Equipment Safety, Amirpooya Shirazi

Department of Construction Engineering and Management: Dissertations, Theses, and Student Research

Roadway construction work zones are constantly exposed to interactions among construction equipment, workers, and vehicles. Furthermore, ensuring safety in these areas is considered a challenging task due to the complexity of the environment. As shown in the rising trend of fatal accidents in roadway work zones, current OSHA regulations in construction safety are insufficient in effectively detecting unsafe situations and mitigating the risks. Furthermore, best practices, such as internal traffic control planning (ITCP), exhibit critical limitations requiring continuous monitoring of active work zones as well as adjustments to the site coordination plans due to the dynamic nature of work zone …

Cal Poly Battle Bot (F41), Jyotaaver S. Nirula, Andrew D. Peterson, Johnathan W. Waldmire, Nathaniel Ab Davis

Mechanical Engineering

This senior project endeavored to design, construct, and optimize a 120lb robot combatant tailored for the competitive arena of combat robotics. The project is a collaborative effort between mechanical, computer, and electrical engineering students at Cal Poly, combining diverse expertise to achieve a unified goal. Our competition, RoboGames, was in April of this year in Northern California.

The mechanical engineering team assumed primary responsibility for the physical components of the battle bot, focusing on three pivotal components: a robust drivetrain, armor, and a highperformance vertical spinner. These elements constitute the foundation of the battle bot's offensive and defensive capabilities, crucial …

Cal Poly Battle Bot, Jyotaaver S. Nirula, Johnathan W. Waldmire, Andrew D. Peterson, Nathaniel Ab Davis

Mechanical Engineering

This senior project endeavored to design, construct, and optimize a 120lb robot combatant tailored for the competitive arena of combat robotics. The project is a collaborative effort between mechanical, computer, and electrical engineering students at Cal Poly, combining diverse expertise to achieve a unified goal. Our competition, RoboGames, was in April of this year in Northern California.

The mechanical engineering team assumed primary responsibility for the physical components of the battle bot, focusing on three pivotal components: a robust drivetrain, armor, and a highperformance vertical spinner. These elements constitute the foundation of the battle bot's offensive and defensive capabilities, crucial …

Deep Reinforcement Learning Of Variable Impedance Control For Object-Picking Tasks, Akshit Lunia

All Theses

The increasing deployment of robots in industries with varying tasks has accelerated the development of various control frameworks, enabling robots to replace humans in repetitive, exhaustive, and hazardous jobs. One critical aspect is the robots' interaction with their environment, particularly in unknown object-picking tasks, which involve intricate object weight estimations and calculations when lifting objects. In this study, a unique control framework is proposed to modulate the force exerted by a manipulator for lifting an unknown object, eliminating the need for feedback from a force/torque sensor. The framework utilizes a variable impedance controller to generate the required force, and an …

Research In Robotics: Vex Robotics, Dylan Wagner, Darec Wagner, Lyric Yost, Alexander Redinger, Yue Fan, Mark Hamrick, Mufeng Shen, Lawrence Yan

SACAD: Scholarly Activities

Throughout the past year our group has been working toward the construction of a robot. Our goal with this robot was to compete in the competition laid out by VEX robotics. Our robot would be built using the VEX robotics pieces as well as some custom-made parts. We utilized the engineering design process to ensure that we were working as efficiently as possible, whilst also working towards making the greatest bot. The first semester had us split into two teams, with both going to Pittsburgh KS to compete against other universities from across the state. After this competition, we combined …

Dueling Robot, Abigail Coy

All Undergraduate Projects

This project was undertaken as a personal challenge to combine a Mechanical Engineering Technology degree and an Electrical Engineering Technology degree into a single final project showing the cumulative knowledge gained. It was determined that a robot to participate in Western Allied Robotics would be designed and manufactured for the 3 lb. weight class.

A two-part power system was designed to provide more power to the weapon arm. This design combined a compressive spring’s kinetic energy with the torque from the electric motor. Research determined all of the purchased components required and analysis were performed to determine the geometry and …

Reflections Of Undergraduate Engineering Students Completing A Cross Disciplinary Robotics Project With Pre-Service Teachers And Fifth Graders In An Electromechanical Systems Course, Krishnanand Kaipa, Jennifer Kidd, Isaac Koduah Kumi, Stacie I. Ringleb, Orlando M. Ayala, Kristie Gutierrez, Francisco Cima, Danielle Marie Rhemer

Mechanical & Aerospace Engineering Faculty Publications

Engineering is becoming increasingly cross-disciplinary, requiring students to develop skills in multiple engineering disciplines (e.g., mechanical engineering students having to learn the basics of electronics, instrumentation, and coding) and interprofessional skills to integrate perspectives from people outside their field. In the workplace, engineering teams are frequently multidisciplinary, and often, people from outside of engineering are part of the team that brings a product to market. Additionally, teams are often diverse in age, race, gender, and in other areas. Teams that creatively utilize the contrasting perspectives and ideas arising from these differences can positively affect team performance and generate solutions effective …

Enhancing Robotic Exploration Through Semantically-Guided Sampling Strategies, Christopher Alexander Arend Tatsch

Graduate Theses, Dissertations, and Problem Reports (ETD)

From space and deep-sea exploration to disaster response and environmental monitoring, autonomous robots are essential for advancing science, improving safety, and addressing critical challenges. This dissertation introduces a novel open-source strategy for autonomous robotic exploration: the Semantically-Guided Exploration (SGE) framework. Designed for ground vehicles, SGE integrates semantic understanding into the autonomous exploration process, improving decision-making in complex environments. Specifically, the proposed sampling-based approach uses the information from the semantic segmentation of RGB images and depth images to guide the robot's selection of exploration goals. This method enables the robot to steer away from potential dangers such as large rocks and …

Robotic Gutter Cleaner, Zachary Nopper

Williams Honors College, Honors Research Projects

Gutters redirect rainwater away from nearly every roof and home in America and Europe but build up debris over time and require constant maintenance. Manual gutter cleaning is unpleasant, time-consuming, and dangerous, with 80,000 injuries/year attributed to people cleaning their gutters and overreaching from ladders in the U.S. alone. This difficult situation implies that consumers would be interested in a method to make this process safer and easier. In an age of increasing automation of tasks, especially those that might be dangerous to complete, a gutter cleaning robot is a solution that could alleviate several of these problems at once. …

Autonomous Robot For Indoor Enhanced Living (Ariel), Prabhjot Kaur

Wayne State University Dissertations

The global population is aging rapidly, with the total percentage of older adults (65 years and older) projected to increase from 10\% of the total population in 2022 to 16\% by 2050, according to the World Population Prospectus 2022 issued by the United Nations. For certain parts of the world such as Europe and North America, this translates to 1 in every 4 persons is projected to be 65 years or older by 2060. This trend raises concerns about providing quality long-term care for the older population. Moreover, according to the 2021 survey by the American Association of Retired Persons …

On Uncertainty For Ill-Posed Robot Decision Problems, Jared Joseph Beard

Graduate Theses, Dissertations, and Problem Reports (ETD)

As robots adopt more real world responsibilities, they will be expected to solve more complicated problems. In some cases limited prior knowledge will result in unmodelled environmental conditions; in others, multiple users may have competing perspectives on how to frame a decision problem. Many existing frameworks, namely Markov decision processes (MDP) presuppose users have identified a specific problem with models sufficient to solve or learn a problem. If we wish to extend MDPs to novel problems or those heavily dependent on user feedback, autonomous decision makers must be able to identify limitations in how a given problem is framed and …

Advancements And Challenges In Additively Manufactured Functionally Graded Materials: A Comprehensive Review, Suhas Alkunte, Ismail Fidan, Vivekanand Naikwadi, Shamil Gudavasov, Mohammad Alshaikh Ali, Mushfig Mahmudov, Seymur Hasanov, Muralimohan Cheepu

Engineering Technology Faculty Publications

This paper thoroughly examines the advancements and challenges in the field of additively manufactured Functionally Graded Materials (FGMs). It delves into conceptual approaches for FGM design, various manufacturing techniques, and the materials employed in their fabrication using additive manufacturing (AM) technologies. This paper explores the applications of FGMs in diverse fields, including structural engineering, automotive, biomedical engineering, soft robotics, electronics, 4D printing, and metamaterials. Critical issues and challenges associated with FGMs are meticulously analyzed, addressing concerns related to production and performance. Moreover, this paper forecasts future trends in FGM development, highlighting potential impacts on diverse industries. The concluding section summarizes …

Development Of A Two-Finger Haptic Robotic Hand With Novel Stiffness Detection And Impedance Control, Vahid Mohammadi, Ramin Shahbad, Mojtaba Hosseini, Mohammad Hossein Gholampour, Saeed Shiry Ghidary, Farshid Najafi, Ahad Behboodi

Mechanical & Aerospace Engineering Faculty Publications

Haptic hands and grippers, designed to enable skillful object manipulation, are pivotal for high-precision interaction with environments. These technologies are particularly vital in fields such as minimally invasive surgery, where they enhance surgical accuracy and tactile feedback: in the development of advanced prosthetic limbs, offering users improved functionality and a more natural sense of touch, and within industrial automation and manufacturing, they contribute to more efficient, safe, and flexible production processes. This paper presents the development of a two-finger robotic hand that employs simple yet precise strategies to manipulate objects without damaging or dropping them. Our innovative approach fused force-sensitive …

Path Planning Development Framework For Mobile Robots, Lauren-Ann Elizabeth Graham

Theses and Dissertations

Planetary exploration relies on methods of path planning to achieve autonomous navigation in hazardous environments. Simulating harsh terrain, real-time varying physics, and robotics applications is vital for testing control algorithms here on Earth. Robotics Operating System (ROS) is a set of software libraries and tools that allow you to build and simulate robotic applications. Utilizing ROS, Gazebo, and Blender, a rough terrain simulation framework is created to explore and compare path planning algorithms using various desired robots and maps. ROS supports multiple path planning algorithms given its open-source abilities. This research focuses on path planning implementation of Proportional-Integral-Derivative (PID) control …

Robotic Origami Worm, Carter Josef, Michael Freeman, Mohammad Hasan

College of Engineering Summer Undergraduate Research Program

Soft robotics can solve many unique engineering problems. The ancient art of origami has inspired design for a new breed of robots. In this research, a novel fold design was created which has high linear stiffness, high bending stiffness, and the ability to deform omnidirectionally in order to turn. The robot is operated using a DC motor to expand and contract and electromagnets to control friction. The robot moves very quickly compared with many other origami robots in the literature. Other interesting ways to control friction were explored including expansion mechanisms. An origami design was created and tested that expands …

Real-Time Length Sensing Of Braided Pneumatic Actuator Using Ir Time-Of-Flight Sensor, Luon B. Chung

Dissertations and Theses

Braided Pneumatic Actuators (BPAs) are used widely in robotics as artificial muscles because of their similar characteristics to biological muscles. When a BPA is pressurized, it expands in the radial direction and contracts in the longitudinal direction. The contraction generates a pulling force that is dependent on the input pressure and BPA length. Biological muscle also behaves in the same way where a pulling force is generated on a contraction. To control BPAs on a robot, the real-time pressure and length measurements are necessary. In this dissertation, I present a new method to measure length of BPAs in real-time using …

A Multi-Aerial Vehicle Platform For Testing Collaborative Mobility Formation Controllers, Matthew Snellgrove

LSU Master's Theses

Multi-agent systems have potential applications in a multitude of fields due to their ability to perform complex tasks with a high degree of robustness. Decentralized systems are multi-agent systems where sensing, control, and communication responsibilities are distributed amongst the agents giving this scheme a particularly high potential for robustness, adaptability, and complexity; however, this comes with its own list of challenges. Formation control is a topic in multi-agent systems that aims to have the agents moving as a virtual rigid body through space. In the literature, there have been successful implementation of formation control algorithms on robot agents in both …

Gpu-Enabled Genetic Algorithm Optimization And Path Planning Of Robotic Arm For Minimizing Energy Consumption, Yichuan Cao

Theses and Dissertations

The robotic arm represents a complicated mechanical system and advanced engineering principles in robotics, enabling precise and efficient manipulation and interaction with objects in a variety of applications, such as manufacturing, healthcare, space exploration, and other industries. In most cases, energy consumption of robotic tools has been given little consideration due to their perceived insignificance compared to the benefits they offer. However, the increasing capacity demands of factories and the expanding use of robotic arms necessitate careful evaluation and reduction of energy consumption. In this regard, given a task configuration, adjusting the arm's movement path emerges as one of the …

Design And Data-Driven Identification Of A Quadruped Robot, Dakota Rufino

All Theses

The existence of nonlinearities and the lack of sufficient equations are fundamental challenges in modeling, analyzing, and controlling complex systems. However, recent developments revolutionizing the study of dynamical systems. An emerging method in nonlinear dynamical systems is the Koopman operator theory, which provides us with key advantages in performing the modeling, prediction, and control of nonlinear systems. The linear system representation allows us to leverage linear stability analysis. The first section of this thesis briefly covers the construction of a quadrupedal robot, a sufficiently complex nonlinear dynamical system, for the use of analyzing data-driven modeling techniques. The second section details …

Implementation Of Static Rfid Landmarks In Slam For Planogram Compliance, Brennan L. Drake

Honors College Theses

Autonomous robotic systems are becoming increasingly prevalent in everyday life and exhibit robust solutions in a wide range of applications. They face many obstacles with the foremost of which being SLAM, or Simultaneous Localization and Mapping, that encompasses both creation of the map of an unknown environment and localization of the robot in said environment. In this experiment, researchers propose the use of RFID tags in a semi-dynamic commercial environment to provide concrete landmarks for localization and mapping in pursuit of increased locational certainty. With this obtained, the ultimate goal of the research is to construct a robotics platform for …

Dash And Dot Robots, Admin Stem For Success, Natalie Wilson

STEM for Success Showcase

Activity plan using robots to teach students engineering and technology