In the very beginning of the SCP actuator fabrication process, a major obstacle was attaching the thread to the very center of the stepper motor shaft. As a result, I decided to 3D print a part that would satisfy all of the necessary conditions (fit directly in the center of the shaft and have a hoo...

After a couple of weeks' writeup and figuring out about the details, here we finally have the final version of the prelab for Crazyflie. This lab is to test some new parts to see whether we can replace the original parts by them to increase the thrust produced. Currently the maximum thrust created i...

We have already proposed a multirobot localization algorithm that separates communication and observation as two independent mechanisms as well as keeps the estimation consistency. However, while localization is not the main goal but the support of more high-level tasks in most of the robotic system...

The goal for the project of 'Antonomous printable robot' is to create a printable antonomous paper robot, which is only made of power source(e.g. battery), paper and conductive thread. The biggest challenge is to control locomotion of robot without computer chips. The proposed solution is to design...

Motion Simulation Using Simulink Using Simscape Multibody, we can import a CAD model into Simulink and test system dynamic response. A Crazyflie 2.0 CAD model from https://github.com/rshum19/Crazyflie-CAD were downloaded and modified using AutoDesk Inventor, then exported to Simscape Multibody and...

This past week I have finalized the designs for my robotic hand and arm and am able to use the now consistent fabrication process to output a length I want based on the precursor length and annealed length with the following equation: (0.26)x = annealed/expanded length For example, if you want an...

For the past week, I have been trying to add in more subcomponents to the RoCo system for the Furniture project. The shape that I have been working on is Pentagon. There are various problems that I encountered while trying to create this new component. The codes below are the python codes I wrote up...

This week we will be working on integrating the actuators with the printable robots. Thus far, we have an elementary design that shows the 10% contraction of the actuators. This actuator was made from a 20 cm precursor length and coiled under 200 RPM and a 100 gram load. The coiled length was 5 cm....

This past week we completed the coding for our paper robotic hand. We used the esp8266 microchip with Arduino to manually control turning the voltage (3.3 V) on and off through a web page. This will allow the SCP actuators to expand and contract when the voltage is off and on respectively. In turn,...

Last week I particapted the monthly research hackathon focusing on computational fabrication. We made a pop-up design of furniture module using Silhouette cutting machine. The design was inspired by pop up cards and was aimed to cut a single piece of board to form foldable furnitures such as tables...