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RBE Colloquium Series: Robotics Engineering PhD students | Yinan Sun & Alex J. Chiluisa


Various images of robots at Robotics Engineering WPI alt
WPI Robotics Engineering
Friday, October 16, 2020
12:00 pm to 1:00 pm


RBE Graduate Student Research

Friday, October 16, 2020
12:00 PM – 1:00 PM
Zoom link: (sign-in required)


Yinan Sun

Salamanderbot: A soft-rigid composite continuum mobile robot to traverse complex environments

Abstract: Soft robots are theoretically well-suited to rescue and exploration applications where their flexibility allows for the traversal of highly cluttered environments. However, most existing mobile soft robots are not fast or powerful enough to effectively traverse three dimensional environments. In this paper, we introduce a new mobile robot with a continuously deformable slender body structure, the SalamanderBot, which combines the flexibility and maneuverability of soft robots, with the speed and power of traditional mobile robots. It consists of a cable-driven bellows-like origami module based on the Yoshimura crease pattern mounted between sets of powered wheels. The origami structure allows the body to deform as necessary to adapt to complex environments and terrains, while the wheels allow the robot to reach speeds of up to 303.1 mm/s (2.05 body-length/s). Salamanderbot can climb up to 60-degree slopes and perform sharp turns with a minimum turning radius of 79.9 mm (0.54 body-length).


Alex J. Chiluisa

Computational Optimization of Notch Spacing for a Transnasal Ear Endoscopy Continuum Robot

Abstract: We present a computational framework to optimize the visual coverage attainable by a notched-tube continuum robotic endoscope inside the middle ear cavity. Our framework  combines  anatomically-accurate  geometric  (mesh )models  of  the  middle  ear  with  a  sampling-based  motion  planning algorithm (RRT) and a ray-casting procedure to quantify what regions of the middle ear can be accessed and visualized by  the  endoscope.  To demonstrate the use of this framework, we run computer simulations to investigate the effect of varying the distance between each pair of consecutive flexure elements (i.e., notches) in our robotic endoscope.


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