RoboWiki - The Robotics Lab at IIT - Research

November 28, 2012, at 12:57 PM by 198.37.27.115 -

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Watch the video of the robot.

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Watch the video of the robot.

November 28, 2012, at 12:19 PM by 198.37.27.115 -

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Watch the video of the robot.

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Watch the video of the robot.

November 28, 2012, at 11:46 AM by 216.47.149.44 -

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HyTAQ Robot(Hybrid Terrestrial and Aerial Quadrotor) - HyTAQ is a novel mobile robot capable of both aerial and terrestrial locomotion. Flight is achieved through a quadrotor configuration; four actuators provide the required thrust. Adding a rolling cage to the quadrotor makes terrestrial locomotion possible using the same actuator set and control system. Thus, neither the mass nor the system complexity is increased by inclusion of separate actuators for terrestrial and aerial locomotion.

During terrestrial locomotion, the robot only needs to overcome rolling resistance and consumes much less energy compared to the aerial mode. This solves one of the most vexing problems of quadrotors and rotorcraft in general — their short operation time. Experimental results show that the hybrid robot can travel a distance 4 times greater and operate almost 6 times longer than a aerial only system. It also solves one of the most challenging problems in terrestrial robot design — obstacle avoidance. When an obstacle is encountered, the system simply flies over it.

to:

HyTAQ Robot(Hybrid Terrestrial and Aerial Quadrotor) - The HyTAQ is a novel mobile robot capable of both aerial and terrestrial locomotion. Flight is achieved through a quadrotor configuration; four actuators provide the required thrust. Adding a rolling cage to the quadrotor makes terrestrial locomotion possible using the same actuator set and control system. Thus, neither the mass nor the system complexity is increased by inclusion of separate actuators for terrestrial and aerial locomotion.

During terrestrial locomotion, the robot only needs to overcome rolling resistance and consumes much less energy compared to the aerial mode. This solves one of the most vexing problems of quadrotors and rotorcraft in general — their short operation time. Experimental results show that the hybrid robot can travel a distance 4 times greater and operate almost 6 times longer than an aerial only system. It also solves one of the most challenging problems in terrestrial robot design — obstacle avoidance. When an obstacle is encountered, the system simply flies over it.

November 28, 2012, at 11:41 AM by 198.37.27.115 -

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HyTAQ is a novel mobile robot capable of both aerial and terrestrial locomotion. Flight is achieved through a quadrotor configuration; four actuators provide the required thrust. Adding a rolling cage to the quadrotor makes terrestrial locomotion possible using the same actuator set and control system. Thus, neither the mass nor the system complexity is increased by inclusion of separate actuators for terrestrial and aerial locomotion.||||

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HyTAQ Robot(Hybrid Terrestrial and Aerial Quadrotor) - HyTAQ is a novel mobile robot capable of both aerial and terrestrial locomotion. Flight is achieved through a quadrotor configuration; four actuators provide the required thrust. Adding a rolling cage to the quadrotor makes terrestrial locomotion possible using the same actuator set and control system. Thus, neither the mass nor the system complexity is increased by inclusion of separate actuators for terrestrial and aerial locomotion.

November 28, 2012, at 11:40 AM by 198.37.27.115 -

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November 28, 2012, at 11:40 AM by 198.37.27.115 -

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HyTAQ Robot(Hybrid Terrestrial and Aerial Quadrotor) - This is a novel mobile robot capable of both aerial and terrestrial locomotion. Flight is achieved through a quadrotor configuration; four actuators provide the required thrust. Adding a rolling cage to the quadrotor makes terrestrial locomotion possible using the same actuator set and control system. Thus, neither the mass nor the system complexity is increased by inclusion of separate actuators for terrestrial and aerial locomotion.

to:

HyTAQ is a novel mobile robot capable of both aerial and terrestrial locomotion. Flight is achieved through a quadrotor configuration; four actuators provide the required thrust. Adding a rolling cage to the quadrotor makes terrestrial locomotion possible using the same actuator set and control system. Thus, neither the mass nor the system complexity is increased by inclusion of separate actuators for terrestrial and aerial locomotion.||||

November 28, 2012, at 11:39 AM by 198.37.27.115 -

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During terrestrial locomotion, the robot only needs to overcome rolling resistance and consumes much less energy compared to the aerial mode. This solves one of the most vexing problems of quadrotors and rotorcraft in general — their short operation time. Experimental results show that the hybrid robot can travel a distance 4 times greater and operate almost 6 times longer than a aerial only system. It also solves one of the most challenging problems in terrestrial robot design — obstacle avoidance. When an obstacle is encountered, the system simply flies over it.||||

to:

HyTAQ Robot(Hybrid Terrestrial and Aerial Quadrotor) - This is a novel mobile robot capable of both aerial and terrestrial locomotion. Flight is achieved through a quadrotor configuration; four actuators provide the required thrust. Adding a rolling cage to the quadrotor makes terrestrial locomotion possible using the same actuator set and control system. Thus, neither the mass nor the system complexity is increased by inclusion of separate actuators for terrestrial and aerial locomotion.

During terrestrial locomotion, the robot only needs to overcome rolling resistance and consumes much less energy compared to the aerial mode. This solves one of the most vexing problems of quadrotors and rotorcraft in general — their short operation time. Experimental results show that the hybrid robot can travel a distance 4 times greater and operate almost 6 times longer than a aerial only system. It also solves one of the most challenging problems in terrestrial robot design — obstacle avoidance. When an obstacle is encountered, the system simply flies over it.

November 28, 2012, at 11:39 AM by 198.37.27.115 -

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HyTAQ Robot(Hybrid Terrestrial and Aerial Quadrotor) - This is a novel mobile robot capable of both aerial and terrestrial locomotion. Flight is achieved through a quadrotor configuration; four actuators provide the required thrust. Adding a rolling cage to the quadrotor makes terrestrial locomotion possible using the same actuator set and control system. Thus, neither the mass nor the system complexity is increased by inclusion of separate actuators for terrestrial and aerial locomotion. During terrestrial locomotion, the robot only needs to overcome rolling resistance and consumes much less energy compared to the aerial mode. This solves one of the most vexing problems of quadrotors and rotorcraft in general — their short operation time. Experimental results show that the hybrid robot can travel a distance 4 times greater and operate almost 6 times longer than a aerial only system. It also solves one of the most challenging problems in terrestrial robot design — obstacle avoidance. When an obstacle is encountered, the system simply flies over it.

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During terrestrial locomotion, the robot only needs to overcome rolling resistance and consumes much less energy compared to the aerial mode. This solves one of the most vexing problems of quadrotors and rotorcraft in general — their short operation time. Experimental results show that the hybrid robot can travel a distance 4 times greater and operate almost 6 times longer than a aerial only system. It also solves one of the most challenging problems in terrestrial robot design — obstacle avoidance. When an obstacle is encountered, the system simply flies over it.||||

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November 28, 2012, at 11:37 AM by 198.37.27.115 -

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This is a novel mobile robot capable of both aerial and terrestrial locomotion. Flight is achieved through a quadrotor configuration; four actuators provide the required thrust. Adding a rolling cage to the quadrotor makes terrestrial locomotion possible using the same actuator set and control system. Thus, neither the mass nor the system complexity is increased by inclusion of separate actuators for terrestrial and aerial locomotion.

to:

HyTAQ Robot(Hybrid Terrestrial and Aerial Quadrotor) - This is a novel mobile robot capable of both aerial and terrestrial locomotion. Flight is achieved through a quadrotor configuration; four actuators provide the required thrust. Adding a rolling cage to the quadrotor makes terrestrial locomotion possible using the same actuator set and control system. Thus, neither the mass nor the system complexity is increased by inclusion of separate actuators for terrestrial and aerial locomotion.

November 28, 2012, at 11:36 AM by 198.37.27.115 -

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This is a novel mobile robot capable of both aerial and terrestrial locomotion. Flight is achieved through a quadrotor configuration; four actuators provide the required thrust. Adding a rolling cage to the quadrotor makes terrestrial locomotion possible using the same actuator set and control system. Thus, neither the mass nor the system complexity is increased by inclusion of separate actuators for terrestrial and aerial locomotion.||||

to:

This is a novel mobile robot capable of both aerial and terrestrial locomotion. Flight is achieved through a quadrotor configuration; four actuators provide the required thrust. Adding a rolling cage to the quadrotor makes terrestrial locomotion possible using the same actuator set and control system. Thus, neither the mass nor the system complexity is increased by inclusion of separate actuators for terrestrial and aerial locomotion.

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November 28, 2012, at 11:35 AM by 198.37.27.115 -

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HyTAQ Robot(Hybrid Terrestrial and Aerial Quadrotor)

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November 28, 2012, at 11:31 AM by 198.37.27.115 -

November 28, 2012, at 11:30 AM by 198.37.27.115 -

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HyTAQ Robot(Hybrid Terrestrial and Aerial Quadrotor) This is a novel mobile robot capable of both aerial and terrestrial locomotion. Flight is achieved through a quadrotor configuration; four actuators provide the required thrust. Adding a rolling cage to the quadrotor makes terrestrial locomotion possible using the same actuator set and control system. Thus, neither the mass nor the system complexity is increased by inclusion of separate actuators for terrestrial and aerial locomotion.||||

During terrestrial locomotion, the robot only needs to overcome rolling resistance and consumes much less energy compared to the aerial mode. This solves one of the most vexing problems of quadrotors and rotorcraft in general — their short operation time. Experimental results show that the hybrid robot can travel a distance 4 times greater and operate almost 6 times longer than a aerial only system. It also solves one of the most challenging problems in terrestrial robot design — obstacle avoidance. When an obstacle is encountered, the system simply flies over it. Watch the video of the robot.

February 06, 2012, at 12:05 PM by 64.131.106.80 -

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Hairpin Turn and Controlled Side Slip

October 07, 2011, at 11:32 PM by chenghui nie -

October 07, 2011, at 10:18 AM by 64.131.104.129 -

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Square path following

Zigzag path following

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Square path following

Zigzag path following

October 07, 2011, at 10:17 AM by 64.131.104.129 -

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Square path following

Zigzag path following

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Square path following

Zigzag path following

October 07, 2011, at 10:17 AM by 64.131.104.129 -

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Squre path following

Zigzag path following

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Square path following

Zigzag path following

October 06, 2011, at 12:39 AM by chenghui nie -

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October 06, 2011, at 12:39 AM by chenghui nie -

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October 06, 2011, at 12:38 AM by chenghui nie -

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Video is available on youtube:

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October 06, 2011, at 12:37 AM by chenghui nie -

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youtu.be/e4SBg7504lA

youtu.be/GymQesLn-WI

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Squre path following

Zigzag path following

October 06, 2011, at 12:35 AM by 108.93.38.113 -

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http://youtu.be/e4SBg7504lA

http://youtu.be/GymQesLn-WI

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youtu.be/e4SBg7504lA

youtu.be/GymQesLn-WI

October 06, 2011, at 12:33 AM by 108.93.38.113 -

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October 06, 2011, at 12:32 AM by 108.93.38.113 -

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{{<iframe width="960" height="720" src="https://www.youtube-nocookie.com/embed/e4SBg7504lA?hd=1" frameborder="0" allowfullscreen></iframe>}}

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http://youtu.be/e4SBg7504lA http://youtu.be/GymQesLn-WI

October 06, 2011, at 12:28 AM by 108.93.38.113 -

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[<iframe width="960" height="720" src="https://www.youtube-nocookie.com/embed/e4SBg7504lA?hd=1" frameborder="0" allowfullscreen></iframe>]

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{{<iframe width="960" height="720" src="https://www.youtube-nocookie.com/embed/e4SBg7504lA?hd=1" frameborder="0" allowfullscreen></iframe>}}

October 06, 2011, at 12:26 AM by 108.93.38.113 -

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[<iframe width="960" height="720" src="https://www.youtube-nocookie.com/embed/e4SBg7504lA?hd=1" frameborder="0" allowfullscreen></iframe>]

October 06, 2011, at 12:25 AM by 108.93.38.113 -

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October 06, 2011, at 12:24 AM by 108.93.38.113 -

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October 06, 2011, at 12:22 AM by 108.93.38.113 -

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October 06, 2011, at 12:20 AM by 108.93.38.113 -

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October 06, 2011, at 12:12 AM by 108.93.38.113 -

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Video is here: <iframe width="420" height="315" src="http://www.youtube.com/embed/e4SBg7504lA" frameborder="0" allowfullscreen></iframe>

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October 06, 2011, at 12:11 AM by 108.93.38.113 -

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Video is here: <iframe width="420" height="315" src="http://www.youtube.com/embed/e4SBg7504lA" frameborder="0" allowfullscreen></iframe>|| ||

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Omnidirectional Vehicles for Rough Terrain - We are investigating mechanical design and control algorithms for omnidirectional vehicles capable of operating in real-world environments. Typical omnidirectional vehicle designs are only suitable for clean, smooth surfaces due to their use of specialized wheels. In contrast, our design is based on the ''active split offset castor'. This design utilizes standard wheels, which gives it a high load carrying capacity and robustness to dirt and debris. It also has a high kinematic isotropy and low scrubbing torque when compared to other omnidirectional vehicle designs that employ conventional wheels. We are working on this project in collaboration with the Robotic Mobility Group at MIT and the work is supported by the Army Research Office.

Video is here: <iframe width="420" height="315" src="http://www.youtube.com/embed/e4SBg7504lA" frameborder="0" allowfullscreen></iframe>

October 06, 2011, at 12:10 AM by 108.93.38.113 -

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Omnidirectional Vehicles for Rough Terrain - We are investigating mechanical design and control algorithms for omnidirectional vehicles capable of operating in real-world environments. Typical omnidirectional vehicle designs are only suitable for clean, smooth surfaces due to their use of specialized wheels. In contrast, our design is based on the ''active split offset castor'. This design utilizes standard wheels, which gives it a high load carrying capacity and robustness to dirt and debris. It also has a high kinematic isotropy and low scrubbing torque when compared to other omnidirectional vehicle designs that employ conventional wheels. We are working on this project in collaboration with the Robotic Mobility Group at MIT and the work is supported by the Army Research Office.

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Video is here: <iframe width="420" height="315" src="http://www.youtube.com/embed/e4SBg7504lA" frameborder="0" allowfullscreen></iframe>|| ||

September 19, 2011, at 01:46 PM by 64.131.105.141 -

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Vehicle-Terrain Interaction Modeling - Terramechanics, the study of vehicle-terrain interaction, has been used for decades to model and predict off-road vehicle mobility performance on deformable terrains. We are currently investigating the accuracy of terramechanics models when applied to small-wheeled vehicles. Through largely empirical means the lab has introduced two new pressure-sinkage models which have been shown to improve the accuracy of traction models for these vehicles significantly. Current lab facilities for this research include a vehicle terrain testbed, geotechnical soil testing equipment (in the civil engineering dept.),simulation software and a pressure-sinkage testbed. We are currently developing a fluidized testbed to investigate the effect of soil volume fraction of mobility metrics.

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Vehicle-Terrain Interaction Modeling - Terramechanics, the study of vehicle-terrain interaction, has been used for decades to model and predict off-road vehicle mobility performance on deformable terrains. We are currently investigating the accuracy of terramechanics models when applied to small-wheeled vehicles. The lab has introduced two new pressure-sinkage models which have been shown to significantly improve the accuracy of traction models for these vehicles. Current lab facilities for this research include a vehicle terrain testbed, geotechnical soil testing equipment (in the civil engineering dept.),simulation software and a pressure-sinkage testbed. We are now developing a fluidized testbed to investigate the effect of soil volume fraction of mobility metrics.

September 19, 2011, at 01:44 PM by 64.131.105.141 -

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Vehicle-Terrain Interaction Modeling - Terramechanics, the study of vehicle-terrain interaction, has been used for decades to model and predict off-road vehicle mobility performance on deformable terrains. We are currently investigating the accuracy of terramechanics models when applied to small-wheeled vehicles. Through largely empirical means the lab has introduced two new pressure-sinkage models which have been shown to improve the accuracy of traction models for these vehicles significantly. Current lab facilities for this research include a vehicle terrain testbed, geotechnical soil testing equipment (in the civil engineering dept.),simulation software and a pressure-sinkage testbed. We are currently developing a fluidized testbed to investigate the effect of soil volume fraction of mobility metrics.

Attach:soil.bmp

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Vehicle-Terrain Interaction Modeling - Terramechanics, the study of vehicle-terrain interaction, has been used for decades to model and predict off-road vehicle mobility performance on deformable terrains. We are currently investigating the accuracy of terramechanics models when applied to small-wheeled vehicles. Through largely empirical means the lab has introduced two new pressure-sinkage models which have been shown to improve the accuracy of traction models for these vehicles significantly. Current lab facilities for this research include a vehicle terrain testbed, geotechnical soil testing equipment (in the civil engineering dept.),simulation software and a pressure-sinkage testbed. We are currently developing a fluidized testbed to investigate the effect of soil volume fraction of mobility metrics.

September 19, 2011, at 01:41 PM by 64.131.105.141 -

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Vehicle-Terrain Interaction Modeling - Terramechanics, the study of vehicle-terrain interaction, has been used for decades to model and predict off-road vehicle mobility performance on deformable terrains. We are currently investigating the accuracy of terramechanics models when applied to small-wheeled vehicles. Through largely empirical means the lab has introduced two new pressure-sinkage models which have been shown to improve the accuracy of traction models for these vehicles significantly. Current lab facilities for this research include a vehicle terrain testbed, geotechnical soil testing equipment (in the civil engineering dept.),simulation software and a pressure-sinkage testbed. We are currently developing a fluidized testbed to investigate the effect of soil volume fraction of mobility metrics.

Attach:soil.avi Δ

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Vehicle-Terrain Interaction Modeling - Terramechanics, the study of vehicle-terrain interaction, has been used for decades to model and predict off-road vehicle mobility performance on deformable terrains. We are currently investigating the accuracy of terramechanics models when applied to small-wheeled vehicles. Through largely empirical means the lab has introduced two new pressure-sinkage models which have been shown to improve the accuracy of traction models for these vehicles significantly. Current lab facilities for this research include a vehicle terrain testbed, geotechnical soil testing equipment (in the civil engineering dept.),simulation software and a pressure-sinkage testbed. We are currently developing a fluidized testbed to investigate the effect of soil volume fraction of mobility metrics.

Attach:soil.bmp

September 19, 2011, at 01:32 PM by 64.131.105.141 -

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Vehicle-Terrain Interaction Modeling - Terramechanics, the study of vehicle-terrain interaction, has been used for decades to model and predict off-road vehicle mobility performance on deformable terrains. We are currently investigating the accuracy of terramechanics models when applied to small-wheeled vehicles. Through largely empirical means the lab has introduced two new pressure-sinkage models which have been shown to improve the accuracy of traction models for these vehicles significantly. Current lab facilities for this research include a vehicle terrain testbed, geotechnical soil testing equipment (in the civil engineering dept.),simulation software and a pressure-sinkage testbed. We are currently developing a fluidized testbed to investigate the effect of soil volume fraction of mobility metrics. .

Soil.avi

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Vehicle-Terrain Interaction Modeling - Terramechanics, the study of vehicle-terrain interaction, has been used for decades to model and predict off-road vehicle mobility performance on deformable terrains. We are currently investigating the accuracy of terramechanics models when applied to small-wheeled vehicles. Through largely empirical means the lab has introduced two new pressure-sinkage models which have been shown to improve the accuracy of traction models for these vehicles significantly. Current lab facilities for this research include a vehicle terrain testbed, geotechnical soil testing equipment (in the civil engineering dept.),simulation software and a pressure-sinkage testbed. We are currently developing a fluidized testbed to investigate the effect of soil volume fraction of mobility metrics.

Attach:soil.avi Δ

September 19, 2011, at 01:31 PM by 64.131.105.141 -

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Vehicle-Terrain Interaction Modeling - Terramechanics, the study of vehicle-terrain interaction, has been used for decades to model and predict off-road vehicle mobility performance on deformable terrains. We are currently investigating the accuracy of terramechanics models when applied to small-wheeled vehicles. Through largely empirical means the lab has introduced two new pressure-sinkage models which have been shown to improve the accuracy of traction models for these vehicles significantly. Current lab facilities for this research include a vehicle terrain testbed, geotechnical soil testing equipment (in the civil engineering dept.),simulation software and a pressure-sinkage testbed. We are currently developing a fluidized testbed to investigate the effect of soil volume fraction of mobility metrics. .

Soil.avi

April 29, 2011, at 09:46 AM by 64.131.104.177 -

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Active Camouflage - More information to come after publication.

October 14, 2010, at 01:25 PM by 64.131.107.48 -

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The IIT Robotics Lab is also currently studying the evolving trends in mobile robot design. Please help us by taking 5 minutes to answer 15 short questions about your work. This information will be used to help us understand the relationship between mobility and certain robot characteristics. The results of this study can be disseminated to interested parties - just let us know! To fill it out, please visit:

IIT Robotics Lab Survey

October 14, 2010, at 01:24 PM by 64.131.107.48 -

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stability control systems that have the potential to save lives. || ||

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Agile Non-holonomic Vehicles with Variable Internal Inertial Properties - This research focuses on creating a novel class of highly agile UGVs capable of controlling their internal mass and inertial properties during locomotion. The UGVs will be able to longitudinally adjust their center of mass location. This will allow for direct control of the normal force acting on the front and rear wheels. Controlling this force will give the UGV the ability to execute dynamic maneuvers including sharp turns and controlled sliding, stabilize itself to recover from unwanted sideslip, and traverse a larger set of obstacles (by unloading the suspension when the wheels cross the hazard).

October 14, 2010, at 01:23 PM by 64.131.107.48 -

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phenomenon. The implications of this research are broad and cover both the field of robotics and passenger vehicle safety. In the area of robotics, the work will yield highly practical results by producing a UGV design that greatly increases the utility of mobile robots in a variety of environments and situations. These new vehicles will be better able to operate in tight spaces, avoid obstacles detected at short distances, and traverse paths that are impossible using conventional vehicle designs. In terms of passenger vehicles, the research will offer valuable insights into designing dynamic stability control systems that have the potential to save lives.|| ||

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stability control systems that have the potential to save lives. || ||

October 14, 2010, at 01:21 PM by 64.131.107.48 -

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Perched Landing of Micro Air Vehicles - We are interested in the design of mechanical attachment mechanisms that give micro air vehicles the ability to land on arbitrary surfaces. Additionally, we are investigating methodologies that give UGVs the ability to locomote in different domains(land, vertical surfaces, air) without resorting to "Swiss-Army Knife" design. This work is supported by the Office of Naval Research.

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Perched Landing of Micro Air Vehicles - We are interested in the design of mechanical attachment mechanisms that give micro air vehicles the ability to land on arbitrary surfaces. Additionally, we are investigating methodologies that give UGVs the ability to locomote in different domains(land, vertical surfaces, air) without resorting to "Swiss-Army Knife" design. This work is supported by the Office of Naval Research.

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Omnidirectional Vehicles for Rough Terrain - We are investigating mechanical design and control algorithms for omnidirectional vehicles capable of operating in real-world environments. Typical omnidirectional vehicle designs are only suitable for clean, smooth surfaces due to their use of specialized wheels. In contrast, our design is based on the ''active split offset castor'. This design utilizes standard wheels, which gives it a high load carrying capacity and robustness to dirt and debris. It also has a high kinematic isotropy and low scrubbing torque when compared to other omnidirectional vehicle designs that employ conventional wheels. We are working on this project in collaboration with the Robotic Mobility Group at MIT and the work is supported by the Army Research Office.

to:

Omnidirectional Vehicles for Rough Terrain - We are investigating mechanical design and control algorithms for omnidirectional vehicles capable of operating in real-world environments. Typical omnidirectional vehicle designs are only suitable for clean, smooth surfaces due to their use of specialized wheels. In contrast, our design is based on the ''active split offset castor'. This design utilizes standard wheels, which gives it a high load carrying capacity and robustness to dirt and debris. It also has a high kinematic isotropy and low scrubbing torque when compared to other omnidirectional vehicle designs that employ conventional wheels. We are working on this project in collaboration with the Robotic Mobility Group at MIT and the work is supported by the Army Research Office.

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stability control systems that have the potential to save lives.|| ||

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stability control systems that have the potential to save lives.|| ||

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October 14, 2010, at 01:20 PM by 64.131.107.48 -

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Perched Landing of Micro Air Vehicles - We are interested in the design of mechanical attachment mechanisms that give micro air vehicles the ability to land on arbitrary surfaces. Additionally, we are investigating methodologies that give UGVs the ability to locomote in different domains(land, vertical surfaces, air) without resorting to "Swiss-Army Knife" design. This work is supported by the Office of Naval Research.

to:

Perched Landing of Micro Air Vehicles - We are interested in the design of mechanical attachment mechanisms that give micro air vehicles the ability to land on arbitrary surfaces. Additionally, we are investigating methodologies that give UGVs the ability to locomote in different domains(land, vertical surfaces, air) without resorting to "Swiss-Army Knife" design. This work is supported by the Office of Naval Research.

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Omnidirectional Vehicles for Rough Terrain - We are investigating mechanical design and control algorithms for omnidirectional vehicles capable of operating in real-world environments. Typical omnidirectional vehicle designs are only suitable for clean, smooth surfaces due to their use of specialized wheels. In contrast, our design is based on the ''active split offset castor'. This design utilizes standard wheels, which gives it a high load carrying capacity and robustness to dirt and debris. It also has a high kinematic isotropy and low scrubbing torque when compared to other omnidirectional vehicle designs that employ conventional wheels. We are working on this project in collaboration with the Robotic Mobility Group at MIT and the work is supported by the Army Research Office.

to:

Omnidirectional Vehicles for Rough Terrain - We are investigating mechanical design and control algorithms for omnidirectional vehicles capable of operating in real-world environments. Typical omnidirectional vehicle designs are only suitable for clean, smooth surfaces due to their use of specialized wheels. In contrast, our design is based on the ''active split offset castor'. This design utilizes standard wheels, which gives it a high load carrying capacity and robustness to dirt and debris. It also has a high kinematic isotropy and low scrubbing torque when compared to other omnidirectional vehicle designs that employ conventional wheels. We are working on this project in collaboration with the Robotic Mobility Group at MIT and the work is supported by the Army Research Office.

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stability control systems that have the potential to save lives.|| ||

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stability control systems that have the potential to save lives.|| ||

October 14, 2010, at 01:19 PM by 64.131.107.48 -

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Perched Landing of Micro Air Vehicles - We are interested in the design of mechanical attachment mechanisms that give micro air vehicles the ability to land on arbitrary surfaces. Additionally, we are investigating methodologies that give UGVs the ability to locomote in different domains(land, vertical surfaces, air) without resorting to "Swiss-Army Knife" design. This work is supported by the Office of Naval Research.

to:

Perched Landing of Micro Air Vehicles - We are interested in the design of mechanical attachment mechanisms that give micro air vehicles the ability to land on arbitrary surfaces. Additionally, we are investigating methodologies that give UGVs the ability to locomote in different domains(land, vertical surfaces, air) without resorting to "Swiss-Army Knife" design. This work is supported by the Office of Naval Research.

October 14, 2010, at 01:19 PM by 64.131.107.48 -

October 14, 2010, at 01:16 PM by 64.131.107.48 -

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Robots have recently graduated from structured laboratories to outdoor environments with varying and unstructured terrain. In order to be highly mobile and effective in these settings, robotics research will need to address 1) the underlying physics of robot/terrain interaction and 2) design methodologies for mechanically robust robots capable of multiple modes of locomotion.

Our research approaches these issues by focusing on bioinspired

to:

Robots have recently graduated from structured laboratories to outdoor environments with varying and unstructured terrain. In order to be highly mobile and effective in these settings, robotics research will need to address 1) the underlying physics of robot/terrain interaction and 2) design methodologies for creating mechanically robust robots capable of multiple modes of locomotion.

Our research approaches these issues by focusing on bio-inspired

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1. perching micro air vehicles that can both fly and locomote on arbitrary surfaces and 2. the design of active camouflage systems based on cephalopod morphology.

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perching micro air vehicles that can both fly and locomote on arbitrary surfaces and
the design of active camouflage systems based on cephalopod morphology.

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1. longitudinal load transfer in non-holonomic Unmanned Ground Vehicles (UGVs) and 2. the design and control of omnidirectional UGVs in rough terrain.

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longitudinal load transfer in non-holonomic Unmanned Ground Vehicles (UGVs) and
the design and control of omnidirectional UGVs in rough terrain.

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Perched Landing of Micro Air Vehicles - We are interested in the design of mechanical attachment mechanisms that give micro air vehicles the ability to land on arbitrary surfaces. Additionally, we are investigating how to locomote on these surfaces using integrated structures and actuators. This work is supported by the Office of Naval Research.

to:

Perched Landing of Micro Air Vehicles - We are interested in the design of mechanical attachment mechanisms that give micro air vehicles the ability to land on arbitrary surfaces. Additionally, we are investigating methodologies that give UGVs the ability to locomote in different domains(land, vertical surfaces, air) without resorting to "Swiss-Army Knife" design. This work is supported by the Office of Naval Research.

October 14, 2010, at 01:03 PM by 64.131.107.48 -

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The IIT Robotics Lab is also currently studying the evolving trends in mobile robot design. Please help us by taking 5 minutes to answer 15 short questions about your work. This information will be used to help us understand the relationship between mobility and certain robot characteristics. The results of this study can be disseminated to interested parties - just let us know! To fill it out, please visit:

IIT Robotics Lab Survey

to:

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Perched Landing of Micro Air Vehicles - We are interested in the design of mechanical attachment mechanisms that give micro air vehicles the ability to land on arbitrary surfaces. Additionally, we are investigating how to locomote on these surfaces using integrated structures and actuators. This work is supported by the Office of Naval Research.

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Agile Non-holonomic Vehicles with Variable Internal Inertial Properties - We are working on developing vehicles that exhibit high agility through the use of changing internal inertial properties. We are specifically interested in understanding how longitudinal load transfer affects a vehicle in loose soil.

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phenomenon.

The implications of this research are broad and cover both the field of robotics and passenger vehicle safety. In the area of robotics, the work will yield highly practical results by producing a UGV design that greatly increases the utility of mobile robots in a variety of environments and situations. These new vehicles will be better able to operate in tight spaces, avoid obstacles detected at short distances, and traverse paths that are impossible using conventional vehicle designs. In terms of passenger vehicles, the research will offer valuable insights into designing dynamic stability control systems that have the potential to save lives.|| ||

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Perched Landing of Micro Air Vehicles - We are interested in the design of mechanical attachment mechanisms that give micro air vehicles the ability to land on arbitrary surfaces. Additionally, we are investigating how to locomote on these surfaces using integrated structures and actuators. This work is supported by the Office of Naval Research.

Active Camouflage - More information to come after publication.

to:

Active Camouflage - More information to come after publication.

The IIT Robotics Lab is also currently studying the evolving trends in mobile robot design. Please help us by taking 5 minutes to answer 15 short questions about your work. This information will be used to help us understand the relationship between mobility and certain robot characteristics. The results of this study can be disseminated to interested parties - just let us know! To fill it out, please visit:

IIT Robotics Lab Survey

October 14, 2010, at 01:01 PM by 64.131.107.48 -

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Robots have recently graduated from structured laboratories to outdoor environments with varying and unstructured terrain. In order to be highly mobile and effective in these settings, robotics research will need to shift its focus to 1) understanding the underlying physics of robot/terrain interaction and 2) creating design methodologies for mechanically robust robots capable of multiple modes of locomotion such as running, leaping, and climbing.

to:

Robots have recently graduated from structured laboratories to outdoor environments with varying and unstructured terrain. In order to be highly mobile and effective in these settings, robotics research will need to address 1) the underlying physics of robot/terrain interaction and 2) design methodologies for mechanically robust robots capable of multiple modes of locomotion.

Our research approaches these issues by focusing on bioinspired design and increasing the mobility, agility, and versatility of robots and dynamic systems in the context of challenging terrains. In terms of biologically-inspired design, we work on: 1. perching micro air vehicles that can both fly and locomote on arbitrary surfaces and 2. the design of active camouflage systems based on cephalopod morphology.

Furthermore, we are concerned with creating more agile vehicles by studying: 1. longitudinal load transfer in non-holonomic Unmanned Ground Vehicles (UGVs) and 2. the design and control of omnidirectional UGVs in rough terrain.

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Omnidirectional Vehicles for Rough Terrain - We are investigating mechanical design and control algorithms for omnidirectional vehicles capable of operating in real-world environments. Typical omnidirectional vehicle designs are only suitable for clean, smooth surfaces due to their use of specialized wheels. In contrast, our design is based on the ''active split offset castor'. This design utilizes standard wheels, which gives it a high load carrying capacity and robustness to dirt and debris. It also has a high kinematic isotropy and low scrubbing torque when compared to other omnidirectional vehicle designs that employ conventional wheels. We are working on this project in collaboration with the Robotic Mobility Group at MIT.

to:

Omnidirectional Vehicles for Rough Terrain - We are investigating mechanical design and control algorithms for omnidirectional vehicles capable of operating in real-world environments. Typical omnidirectional vehicle designs are only suitable for clean, smooth surfaces due to their use of specialized wheels. In contrast, our design is based on the ''active split offset castor'. This design utilizes standard wheels, which gives it a high load carrying capacity and robustness to dirt and debris. It also has a high kinematic isotropy and low scrubbing torque when compared to other omnidirectional vehicle designs that employ conventional wheels. We are working on this project in collaboration with the Robotic Mobility Group at MIT and the work is supported by the Army Research Office.

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Perched Landing of Micro Air Vehicles - We are interested in the design of mechanical attachment mechanisms that give micro air vehicles the ability to land on arbitrary surfaces. Additionally, we are investigating how to locomote on these surfaces using integrated structures and actuators.

to:

Perched Landing of Micro Air Vehicles - We are interested in the design of mechanical attachment mechanisms that give micro air vehicles the ability to land on arbitrary surfaces. Additionally, we are investigating how to locomote on these surfaces using integrated structures and actuators. This work is supported by the Office of Naval Research.

October 14, 2010, at 12:55 PM by 64.131.107.48 -

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Agile Non-holonomic Vehicles with Variable Internal Inertial Properties - We are working on developing vehicles that exhibit high agility through the use of changing internal inertial properties. We are specifically interested in understanding how longitudinal load transfer affects a vehicle in loose soil.

to:

Agile Non-holonomic Vehicles with Variable Internal Inertial Properties - We are working on developing vehicles that exhibit high agility through the use of changing internal inertial properties. We are specifically interested in understanding how longitudinal load transfer affects a vehicle in loose soil.

June 09, 2010, at 12:23 PM by 64.131.104.192 -

June 09, 2010, at 11:42 AM by 64.131.104.192 -

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IIT Robotics Lab Survey

to:

IIT Robotics Lab Survey

June 09, 2010, at 11:42 AM by 64.131.104.192 -

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IIT Robotics Lab Survey

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IIT Robotics Lab Survey

June 09, 2010, at 11:40 AM by 64.131.104.192 -

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http://spreadsheets.google.com/viewform?formkey=dGZrQWVzaXZFdzN4dnVmSGc0WFp2YWc6MA

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IIT Robotics Lab Survey

June 09, 2010, at 11:30 AM by 64.131.104.192 -

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http://spreadsheets.google.co/viewform?formkey=dGZrQWVzaXZFdzN4dnVmSGc0WFp2YWc6MA

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http://spreadsheets.google.com/viewform?formkey=dGZrQWVzaXZFdzN4dnVmSGc0WFp2YWc6MA

June 09, 2010, at 11:29 AM by 64.131.104.192 -

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June 09, 2010, at 11:29 AM by 64.131.104.192 -

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The IIT Robotics Lab is also currently studying the evolving trends in mobile robot design. Please help us by taking 5 minutes to answer 15 short questions about your work. This information will be used to help us understand the relationship between mobility and certain robot characteristics. The results of this study can be disseminated to interested parties - just let us know! To fill it out, please visit: http://spreadsheets.google.co/viewform?formkey=dGZrQWVzaXZFdzN4dnVmSGc0WFp2YWc6MA

October 27, 2009, at 04:19 PM by 64.131.105.176 -

Changed line 3 from:

Omnidirectional Vehicles for Rough Terrain - We are investigating mechanical design and control algorithms for omnidirectional vehicles capable of operating in real-world environments. Typical omnidirectional vehicle designs are only suitable for clean, smooth surfaces due to their use of specialized wheels. In contrast, our design is based on the active split offset castor. This design utilizes standard wheels, which gives it a high load carrying capacity and robustness to dirt and debris. It also has a high kinematic isotropy and low scrubbing torque when compared to other omnidirectional vehicle designs that employ conventional wheels. We are working on this project in collaboration with the Robotic Mobility Group at MIT.

to:

Omnidirectional Vehicles for Rough Terrain - We are investigating mechanical design and control algorithms for omnidirectional vehicles capable of operating in real-world environments. Typical omnidirectional vehicle designs are only suitable for clean, smooth surfaces due to their use of specialized wheels. In contrast, our design is based on the ''active split offset castor'. This design utilizes standard wheels, which gives it a high load carrying capacity and robustness to dirt and debris. It also has a high kinematic isotropy and low scrubbing torque when compared to other omnidirectional vehicle designs that employ conventional wheels. We are working on this project in collaboration with the Robotic Mobility Group at MIT.

October 27, 2009, at 04:18 PM by 64.131.105.176 -

Changed line 3 from:

Omnidirectional Vehicles for Rough Terrain - We are investigating mechanical design and control algorithms for omnidirectional vehicles capable of operating in real-world environments. Typical omnidirectional vehicle designs are only suitable for clean, smooth surfaces due to their use of specialized wheels. In contrast, our design is based on the ''active split offset castor'. This design utilizes standard wheels, which gives it a high load carrying capacity and robustness to dirt and debris. It also has a high kinematic isotropy and low scrubbing torque when compared to other omnidirectional vehicle designs that employ conventional wheels. We are working on this project in collaboration with the Robotic Mobility Group at MIT.

to:

Omnidirectional Vehicles for Rough Terrain - We are investigating mechanical design and control algorithms for omnidirectional vehicles capable of operating in real-world environments. Typical omnidirectional vehicle designs are only suitable for clean, smooth surfaces due to their use of specialized wheels. In contrast, our design is based on the active split offset castor. This design utilizes standard wheels, which gives it a high load carrying capacity and robustness to dirt and debris. It also has a high kinematic isotropy and low scrubbing torque when compared to other omnidirectional vehicle designs that employ conventional wheels. We are working on this project in collaboration with the Robotic Mobility Group at MIT.

July 02, 2009, at 02:41 PM by Matthew Spenko -

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Biologically Inspired Directional Dry Adhesives - We have been investigating methods to optimize the design of directional dry adhesive stalks based on those used by the Stickybot Robot.

Attach:Hierarchical.png Δ

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Perched Landing of Micro Air Vehicles - We are interested in the design of mechanical attachment mechanisms that give micro air vehicles the ability to land on arbitrary surfaces. Additionally, we are investigating how to locomote on these surfaces using integrated structures and actuators.

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Active Camouflage - More information to come after publication!

to:

Active Camouflage - More information to come after publication.

July 02, 2009, at 02:38 PM by Matthew Spenko -

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Agile Non-holonomic Vehicles with Variable Internal Inertial Properties - We are working on developing vehicles that exhibit high agility through the use of changing internal inertial properties. More information to come after our first paper is published!

to:

Agile Non-holonomic Vehicles with Variable Internal Inertial Properties - We are working on developing vehicles that exhibit high agility through the use of changing internal inertial properties. We are specifically interested in understanding how longitudinal load transfer affects a vehicle in loose soil.

December 15, 2008, at 08:40 PM by Matthew Spenko -

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Biologically Inspired Directional Dry Adhesives - We have been investigating methods to optimize the design of directional dry adhesive stalks based on those used by the Stickybot Robot.

Attach:Hierarchical.png Δ

to:

Biologically Inspired Directional Dry Adhesives - We have been investigating methods to optimize the design of directional dry adhesive stalks based on those used by the Stickybot Robot.

Attach:Hierarchical.png Δ

Active Camouflage - More information to come after publication!

December 15, 2008, at 08:39 PM by Matthew Spenko -

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Omnidirectional Vehicles for Rough Terrain

to:

Omnidirectional Vehicles for Rough Terrain - We are investigating mechanical design and control algorithms for omnidirectional vehicles capable of operating in real-world environments. Typical omnidirectional vehicle designs are only suitable for clean, smooth surfaces due to their use of specialized wheels. In contrast, our design is based on the ''active split offset castor'. This design utilizes standard wheels, which gives it a high load carrying capacity and robustness to dirt and debris. It also has a high kinematic isotropy and low scrubbing torque when compared to other omnidirectional vehicle designs that employ conventional wheels. We are working on this project in collaboration with the Robotic Mobility Group at MIT.

Changed line 5 from:

Agile Non-holonomic Vehicles with Variable Internal Inertial Properties

to:

Agile Non-holonomic Vehicles with Variable Internal Inertial Properties - We are working on developing vehicles that exhibit high agility through the use of changing internal inertial properties. More information to come after our first paper is published!

Changed line 7 from:

Biologically Inspired Directional Dry Adhesives

Attach:Hierarchical.png Δ

to:

Biologically Inspired Directional Dry Adhesives - We have been investigating methods to optimize the design of directional dry adhesive stalks based on those used by the Stickybot Robot.

Attach:Hierarchical.png Δ

December 02, 2008, at 05:29 PM by 216.47.154.62 -

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Biologically Inspired Directional Dry Adhesives

Attach:Hierarchical.png Δ

Active Camouflage Solutions

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Biologically Inspired Directional Dry Adhesives

Attach:Hierarchical.png Δ

December 02, 2008, at 05:28 PM by 216.47.154.62 -

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Omnidirectional Vehicles for Rough Terrain

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Omnidirectional Vehicles for Rough Terrain

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Agile Non-holonomic Vehicles with Variable Internal Inertial Properties

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Agile Non-holonomic Vehicles with Variable Internal Inertial Properties

December 02, 2008, at 05:26 PM by 216.47.154.62 -

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Omnidirectional Vehicles for Rough Terrain

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Omnidirectional Vehicles for Rough Terrain

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Agile Non-holonomic Vehicles with Variable Internal Inertial Properties

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Agile Non-holonomic Vehicles with Variable Internal Inertial Properties

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Biologically Inspired Directional Dry Adhesives

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Biologically Inspired Directional Dry Adhesives

Attach:Hierarchical.png Δ

December 02, 2008, at 10:27 AM by 216.47.154.55 -

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Omnidirectional Vehicles for Rough Terrain

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Omnidirectional Vehicles for Rough Terrain

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December 02, 2008, at 10:27 AM by 216.47.154.55 -

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Robots have recently graduated from structured laboratories to outdoor environments with varying and unstructured terrain. In order to be highly mobile and effective in these settings, robotics research will need to shift its focus to 1) understanding the underlying physics of robot/terrain interaction and 2) creating design methodologies for mechanically robust robots capable of multiple modes of locomotion such as running, leaping, and climbing.

Omnidirectional Vehicles for Rough Terrain

Agile Non-holonomic Vehicles with Variable Internal Inertial Properties
Biologically Inspired Directional Dry Adhesives
Active Camouflage Solutions

Main.Research History