Development of tele-operated quadrupedal robotic platform for disaster response
Abstract
The proposed project aims to vastly expand the capability envelop of mobile robotic platforms in order to tackle disaster situation more effectively. The Fukushima power plant disaster in 2011 highlighted the imminent need of new robotic technologies that enable versatile, robust, and reliable operation in unexpected and harsh environments. We aim to develop a new generation of legged robotic platform matching human mobility capable of traversing rough surfaces including artificial environment such as stairs and ladders. This project focuses on two major thrust: development of novel, versatile robotic platform and the new control framework that allows us to create stable and diverse motion primitives. We aim to develop a quadrupedal platform inspired by Gorillas body morphology. The primary locomotion mode of the robot will be quadruped and the robot will be able to stand up in two legs to utilize the two front limbs to manipulate objects. Utilizing a new actuation paradigm called proprioceptive actuation, the robot will be able to reliably and robustly interact with environment and achieve highest dynamic performance in locomotion. In order to maximize the versatility and robustness of the robot, we aim to develop an entirely new control framework, called Viability State Network (VSN), which allows to create a motion database consist of viable state space and the control network connecting viable states. We envision that this approach will allow for the robot not only to enable various gaits and travel speeds also to increase stability under high magnitude of disturbances. By combining two technological breakthroughs – robust dynamic platform and control paradigm, PI envisions that the final product of this proposed research allows unprecedented mobility in unknown challenging environment. These technologies will eventually open up the possibilities to develop the first robotic responders for common disasters such as building fire or earthquake.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Sep 21, 2018
- Source ID
- FA23861714661
Entities
People
- Sangbae Kim
Organizations
- Air Force Office of Scientific Research
- Massachusetts Institute of Technology
- United States Air Force