07 Dec

Tasks to finish before 16/12/2021 These tasks mostly to get to speed on the roco pipeline and begin work on adding new modules Build and fix existing cars to produce .wbo output in the Device branch. Making the API compatible to work with it. Build some new WMR models Figure out why one pytest...

09 Nov

proposal writing Focus Implementing a generalized control and planning output for arbitrary folded robots designs generated by a computational design framework Approach I am looking at papers that are focusing on generating the kinematic and dynamic model of robots with modular components (...

26 Oct

Some observations and tasks ahead The roco model output .wbo at the moment is just the geometrical data, does not have any device information. Tried using the Device and DiscreteComponent branch in yusuke's repo, it needs to be ironed out before it can be used (could work on debugging that also)...

19 Oct

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 controll...

13 Oct

I have been going through the RoCo codebase and have become familiar with the architecture. The main problem I faced was with adding new builder files from Jill's RoCo repo to the original RoCo that I had forked. Even after manually calling the builders and the generating the corresponding yaml file...

16 Sep

New Capabilities: Robot Compiler, RoCo is a sophisticated origam robot generator that a user can define how to cut and fold paper, and change design parameters with ease. I have been working on to export roco generated robot designs into physics simulation software, Webots, so that the user can fu...

30 Aug

See my research poster and presentation titled "Printable Robotic Boat Swarms with Actuation and Sensing Capabilities" for an overview of my contributions from Summer 2021.

03 Aug

I have begun testing different designs for mounting servos and DC motors in any orientation and at any position on each of the boat hull morphologies, as shown in these photos: servoMountDesigns.pdf. I'm testing them by hand first (using tape and scissors), before sending them off to Jill for her...

27 Jul

I have built the first prototype of a boat with rudder steering. This video shows the rudder steering in action. We ran the boat four times and obtained these results: When the rudder is straight, the boat goes (relatively) straight. When the rudder is tilted to the left, the boat veers to...

18 Jul

After completing the boat's electrical base, I began testing different paper chassis designs for driven propellers and paddlewheels. I used the dashboard joystick to control the motors wirelessly while noting each boat's performance. The paddlewheels use servos driven by the Adafruit Servo FeatherWi...