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Developing Robo-c Systems for Locomo-on on Granular Media Carolyn Harvey, Mechanical Engineering Mentor: Dr. Hamid Marvi, Assistant Professor School for Engineering of MaEer, Transport and Energy How can we develop robots that can efficiently move on granular terrain? Mo-va-on Current robo-c systems are limited in their abili-es to adeptly traverse solid, deformable substrates (e.g. sand, mud, snow) due to a lack of understanding of the physics governing the complex interac-ons between solids and such surfaces. As there are many animal species biologically designed for naviga-on of specific terrains, it is useful to study their mechanical ground interac-ons, and the kinema-cs of their movement. Methods To study animal species that can adeptly navigate through wet and dry granular environments, a fully automated, fluidized test bed is designed. Simulated environmental condi-ons are varied by manipula-on of slope angle and packing frac-on (dry) or satura-on level (wet). Data collected from these experiments will be studied and used to op-mize morphologies and gait parameters of robots. Future Work Developed robo-c systems will be tested in the same bed for valida-on of op-mized parameters. Theore-cal models can be developed for solid interac-ons on various types of substrates. Ul-mately, these can be integrated into a single robo-c system capable of sensing its environment and adap-ng its morphology and gait parameters for effec-ve locomo-on on any surface. These systems would be invaluable for applica-ons such as planetary explora-on or rescue opera-ons. Experimental Setup The fluidized bed consists of a support stand, air chamber, air distribu-on layers, and test bed. Main sub-system components include the -l-ng actuators, blower, linear rail guideways, IR cameras, laser diode, z- direc-on actuators, and a load cell. Linear Actuator Fan 2 m 1 m 0.6 m 0.8 m Laser Diode High Speed Cameras Sand Porous Material with Honeycomb layer Precision Rail system Air Duct Controls The automated features of the design include systems for data collec-on and manipula-on of test condi-ons. The func-ons of these systems are varying angle of incline, varying packing frac-on or satura-on level, op-cally tracking animal/ robot movement, obtaining 3D surface profile data, and conduc-ng stress tests on models of animal and prototyped robot limbs. Photo: Nico Zevallos, Biorobo-cs lab, CMU Wiring schema-c for -l-ng actuator system Model of fluidized test bed setup Snake robot

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Page 1: Carolyn Harvey, Mechanical Engineering

DevelopingRobo-cSystemsforLocomo-ononGranularMediaCarolynHarvey,MechanicalEngineeringMentor:Dr.HamidMarvi,AssistantProfessor

SchoolforEngineeringofMaEer,TransportandEnergy

Howcanwedeveloprobotsthatcanefficientlymoveongranularterrain?

Mo-va-onCurrentrobo-csystemsarelimitedintheir

abili-estoadeptlytraversesolid,deformablesubstrates(e.g.sand,mud,snow)duetoa

lackofunderstandingofthephysicsgoverningthecomplexinterac-onsbetweensolidsandsuchsurfaces.Astherearemanyanimalspeciesbiologicallydesignedfor

naviga-onofspecificterrains,itisusefultostudytheirmechanicalgroundinterac-ons,andthekinema-csoftheirmovement.

MethodsTostudyanimalspeciesthatcanadeptlynavigatethroughwetanddrygranular

environments,afullyautomated,fluidizedtestbedisdesigned.Simulatedenvironmental

condi-onsarevariedbymanipula-onofslopeangleandpackingfrac-on(dry)orsatura-on

level(wet).Datacollectedfromtheseexperimentswillbestudiedandusedto

op-mizemorphologiesandgaitparametersofrobots.

FutureWorkDevelopedrobo-csystemswillbetestedinthesamebedforvalida-onofop-mizedparameters.Theore-calmodelscanbe

developedforsolidinterac-onsonvarioustypesofsubstrates.Ul-mately,thesecanbeintegratedintoasinglerobo-csystemcapableofsensingitsenvironmentand

adap-ngitsmorphologyandgaitparametersforeffec-velocomo-ononany

surface.Thesesystemswouldbeinvaluableforapplica-onssuchasplanetary

explora-onorrescueopera-ons.

ExperimentalSetupThefluidizedbedconsistsofasupport

stand,airchamber,airdistribu-onlayers,andtestbed.Mainsub-systemcomponentsincludethe-l-ngactuators,blower,linearrailguideways,IRcameras,laserdiode,z-

direc-onactuators,andaloadcell.

Linear Actuator

Fan

2 m

1 m

0.6

m

0.8

m

Laser Diode

High Speed

Cameras Sand

Porous Material with Honeycomb

layer

Precision Rail

system

Air Duct

ControlsTheautomatedfeaturesofthedesignincludesystemsfordatacollec-onandmanipula-onoftestcondi-ons.Thefunc-onsofthesesystemsarevarying

angleofincline,varyingpackingfrac-onorsatura-onlevel,op-callytrackinganimal/robotmovement,obtaining3Dsurface

profiledata,andconduc-ngstresstestsonmodelsofanimalandprototypedrobot

limbs.

Photo:NicoZevallos,Biorobo-cslab,CMU

Wiringschema-cfor-l-ngactuatorsystemModeloffluidizedtestbedsetup

Snakerobot

Carolyn 2007

NM-1 BOS NEW - SanDiegoCounty.gov...Steven Clark, Raymond Malott, Earl Johnson, Carolyn Harvey, Priscilla Eldridge ... (10/11/13 letter) Same as October 2013 Opposed EHL (03/18/13

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President’s Message€¦ · Kaye Graham Sandra Harvey Rebecca Hastings Hannah Hibbert Kim Hough Deborah Laurie Megan Manwaring Catherine Porter Carolyn Rawson Gail Sadleir Robyn

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disclaimer Carolyn Jeanne Ashton (Hill) Carolyn Ashton

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CONDIÇÃO PÓS-MODERNA David Harvey pt3David Harvey Pt3

Iola ISD · Members Present: Jason Gooch, Mike McDougald, Tammy Harvey, Christie Leman, Scot Nevill and Carolyn Mallett Members Absent: James Ray Trant 4. 5. 6. 9. Call to order:

CAROLYN & ADAM

John Hackett Books of Honour... · 2020. 12. 6. · Julie Hartley Terence Hartley Andrew Harvey . Angela Harvey Ida Judith Harvey Mary Bridget Harvey Patrick Harvey Peter Harvey Wilfred

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