19 Oct

roco additions and literature review

Anwesha Chattoraj roco

Code

  • Tried to get rid of a few redundancies in some parts of the roco code
  • Started writing a new composable (pseudocode) that can be used a base module for generating the controller for the given robot geometry
  • need some help to figure out how relevant robot dynamics will be for the controller, and how to model it from the yaml structure.

Literature Review

Doing a small preliminary literature review to refine research direction:

  • Looking at papers working on similar robot design methodologies as roco, integrating controllers in the design process.
  • Papers exploring robot morphologies that include more complex origami patterns (miura, other tesselations etc), to model reconfigurable/deployable surfaces.

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