Robotics - Extreme Mobility
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I am a member of the Extreme Mobility team, one of the Stanford University Robotics club project teams. This year the team is building multiple legged robots using biomimetic legs in several degrees of freedom to navigate uneven surfaces, which we have fondly named "Doggo". Doggo is now the best performing robot in vertical jumping agility, matching the best performing animal.
Doggo the robot is a quasi-direct-drive quadruped robot with dynamic locomotion constructed over the course of two years
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The team recently submitted a paper to ICRA about Doggo
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Doggo is roughly modeled after the Minotaur robot another quadruped with similar linkage design and comparable capabilities
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In terms of vertical jumping agility, Doggo matches the best performing animal and surpasses the previous best robot
My contributions to Doggo
Co-designed the belt-pulley system powering the legs
Machined and 3D printed many components of the body and pulley system, as well as the leg linkages
Worked on the design and construction of several of the main electrical components
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Implemented the IMU data logging system
Co-programmed the leg trajectories onto the central Teensy controller
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Performed electrical and mechanical tests for ICRA paper
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Future Plans for Extreme Mobility
Active object avoidance when traversing a path
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Construction of a three degree of freedom quadruped, for increased agility
Larger scale robot based on Doggo, expanding on original designs
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Probing feature to feel imminent obstacles and a LIDAR navigation system to aid in object avoidance
