Soft Robotics
I do research in the Robotics and Dynamics (RaD) lab at Brigham Young University. I work with inflatable/soft robots developing models and new methods for control of under-damped and compliant robots. My research particularly focuses on adaptive control of inflatable robots. We work with a 1 DOF robot to implement basic models such as torque control and then implement these models on the more complex full scale robot we have purchased from Pneubotics.
The research in the RaD lab makes use of various types of underdamped robots including inflatable robots and Baxter robots from Rethink Robotics. We use a motion capture system to analyze movement and are working to implement Model Predictive Control into control of inflatable robots. We program using C++, Python, and ROS. Most of our work will be made open-source. |
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