Sarcos Parts
There was a significant failure on the Sarcos Humanoid robot. I redesigned the part in SolidWorks and had it sent out to be CNCed at ZeroHourParts. …
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30 Aug
New Semester
New Semester
Things Chris Said: Meet with Steven Collins, Mech E prof. http://www.andrew.cmu.edu/user/shc17/Monkey robot: swing from tightropes… eventually robots that use escapement (swing/letgo) robots that run and glide robots that fly!Spec …
26 Jul
PWM and Position Control with Pneumatics
PWM and Position Control with Pneumatics
In an attempt to gain finer control of pneumatic actuation, I attempted to employ PWM to a single solenoid valve. The modulation would occur between …
16 Jul
Inflatable Tasks and Control
Inflatable Tasks and Control
At Friday’s lab meeting I demonstrated the inflatable grasper performing the two tasks I have video of: shaving and toothbrushing. The major feedback I received …
13 Jul
Solenoid Control
Solenoid Control
I have successfully been able to control the actuation of a pneumatic solenoid over USB. Using a laptop, an Arduino, an external power supply, compressed …
12 Jul
Pneumatic Joint Actuation
Pneumatic Joint Actuation
I have been experimenting with various methods of joint actuation. I have so far investigated three possible routes: one-way link with springs two-way bellow pneumatic muscles The one-way link …
06 Jul
Arduino
Arduino
The Arduino has arrived! I chose the Arduino development platform due to its ease of interfacing with the components necessary for control of the arm …
02 Jul
Inflatable Shaving and Toothbrushing
Inflatable Shaving and Toothbrushing
The two following videos demonstrate some of the capabilities of the inflatable arm. Inflatable Shaving: Inflatable Tootbrushing:
02 Jul
Link on a Stick
Link on a Stick
In response to previous suggestions posed in the System Review post, I have made progress in integrating a solid attachment point onto typical inflatable links. The …
30 Jun
Wrist Update
Wrist Update
Puppeting/ControlRelocated tendons In the original wrist and arm the top two tendons ran parallel to the longitudinal axis of the arm. To gain better control of …
Category Archive: Research