11 Jul

Creating New Components with RoCo to Extend Applications of Modular Robots

William Shih rocolib roco Origami origami robots mesh visual

These past weeks, I've been experimenting with Interactive Robogami which is an end-to-end design system for ground locomotion robots. It greatly simplifies the design for cut and fold robots, has a library of modular components to choose from, and has many performance and fabrication metrics including speed, wobbliness, slip, angle of rotation, curvature, variance, material cost, electronic cost, and total mass. It also provides functionalities such as animations, code generation for ground locomotion, and an electronic parts list.

Although I was able to download the software, only a very pared down version was available which was very limited in its functionality and unstable especially for exporting the designs I have created. As a result, I was only able ot use and output the demonstration that was available which turned out like this: Screen%20Shot%202022-07-10%20at%207.47.22%20PM Screen%20Shot%202022-07-10%20at%207.49.02%20PM Screen%20Shot%202022-07-10%20at%207.44.40%20PM

I am currently in contact with the head developer of Interactive Robogami, Professor Sung, and seeing if I am able to access a version of Interactive Robogami that can allow me to export new desings. Because of this speedbump, I decided to shift my focus to RoCo and spent time familiarizing myself with its functioanlites by reading Professor Mehta's relevant research papers. After that, I decided that I wanted to start with a robotic leg which I took inspiration from Interactive Robogami. This is the robotic leg component that I wanted to recreate which is basically a rectangular prism connected with a triangular prism:

Screen%20Shot%202022-07-10%20at%207.50.16%20PM

I made changes to the Face.py file in the Rocolib api by adding an equilateral triangle. I also added EquilateralTriangle.py as a component in the Rocolib library. Then, I made LegBuilder.py which utilized these components to design my leg. My output looks like this: Screen%20Shot%202022-07-10%20at%207.43.26%20PM

Although my output is not perfect in regards to the angles of the folds as well as the incisions, this is progress. Now, I will be looking to designing more modular components that will include legs, wheels, bodies, and peripherals and then see what type of robots I can create with these components. Some of the things I am currently thinking of include crawling navigating robots or wheeled robots that can carry certain loads.

Next Post Previous Post

Search

Popular Tags

foray origami robots blimp ducky vr edg SLAM computer vision computational design roco slam Origami rocolib arduino RoCo design Robot Compiler simulation Motion Planning autonomy edg-model mesh reinforcement learning; multi-agent; mean-field; logics create; kalman filter; motors imu friction mesh network tank esp32 networking contacts multi-agent pushing auxetic machine learning dynamics esp now visual processing wireless control communication webapp pcbs structure ROCO i2c path planning cars Robotica reinforcement learning computer skill openmv test motor dataset visual DARPA odometry Battery surface structure power consumption dash port-arrays modeling origami paper frequency diversity semantic infrastructure auxetics feedback gondola machine vision Consensus bistable auxetic controller gestural intuition mixed reality unit cell robot crawler gestural interface open house network create; kalman filter; EM; refactoring 4-wheeled darpa; create; icra2021 apriltags lidar logic control FORAY perception Quantum Information crazyflie 433mhz optimization propeller Foray structures sensors environmental design radio DER Kullback-Leibler Divergence lasercutter tutorial von Mises Fisher Distribution IR simulink legs project management localization distributed optimization blynk Auxetics painlessmesh experiment results offline reinforcement learning exam research proposal altimeter thrust PCB sensor fusion gate or webots multi-agent path planning UAV RL integration test arnhold joystick balloon test vision processing pushing problem modeling contacts mesh networking motor configuration nodemcu swarm object detection fusionbot ros2 rviz2 gazebo conference matlab arduino nano decentralized surfaces keyboard IROS Integrated Demo throughput peripheral device paper review reinforcement learning; motorized boats Writing slam; paper review rhino Short Post range distance surp origami robot nylon pvdf elastic polymers plastic hot plates reinforcement learning; multi-agent; mean-field; game theory; mean field; reinforcement learning current reinforcement learning; multi-agent; Xbee Zigbee robot compiler spi contact neural network dynamic modeling quasi-static modeling edg-examples Kalman Filter port-array von Mises Fisher von Mises-Fisher literature review multipack car Zero Elastic Energy modes swarm control solar cars system ID serial monitor edg-ide Discrete Elastic Rods ceres debug Consensus Algorithms coriolis force dynamic model proposal wtf deep learning pdms interpolation wireless signal strength reinforcement learning; multi-agent; decentralized misc reinforcement learning; multi-agent; mean-field; stationary demo video flytrap papers steering structured field pivoting differential power detectionrate color shape edg-refactoring pain python vision Machine Learning Q-Learning Model-Free release conferences quasi-static pushing liquid crystal elastomer nonholonomic systems iot grant feedback-controlled controls trajectory optimization surface contact Characterization tool ML multi-agent path finding Liquid Crystal Elastomers Learning kinematic_model reservoir computing 2.4 GHz concept 433 MHz Bayesian Network creative Computer skill internal silicone integrated system instance segmentation marginal cost pricing bootstrapping Bayesian networks ensemble methods offline Rl hardware manipulation COVID 19 paper cutter ESP32 kalman filter; multi-robot state space delta tolling buoyancy chiral square unit cell pressure distribution model prediction thrust configuration grid fabrication firmware protobuf #activecapturingmechanism #claw 3D-CHESS; kalman filter boxboat tracking model-based RL von Mises Distribution slam; flowchart; spring-mass 3D-CHESS; 433 rssi signal strength multirobot system writing in-situ design buoyancy equations boat deployment cell cameras der newton's method Barycenter Euler-Bernoulli beam sma-based actuator game theory Bessel functions von Mises-Fisher Distributions ide HDL board design battery current sensor ZMP center of friction Multi-Agent Systems code balloon semantic segmentation MIMO communications ICRA ICML guassian processes probabilistic neural networks graph generators MBRL batch learning ros edg-compiler multirobot optitrack adaptive control motor driver submission DNN kalman filtering point cloud 2.4ghz latency scenic codesign presentations machine training preliminary exam multiple devices inkscape material multi-object tracking ICLR Python actuation catching mechanism integration flapping color_segmentation lab_data result segmentation on multiple object and centers finding competition prelab multiple blimps pid defender Synthesizable Radio 3d printing kalman filter motor distribution barometer detection lift force depth estimation cad solidworks design tool pixracer pixhawk ardupilot flight controller regression fly test sensor selection