RBE Ph.D. Proposal Presentation: Junius Santoso


Various images of robots at Robotics Engineering WPI alt
WPI Robotics Engineering
Monday, May 13, 2019
10:00 am to 11:00 am
Robotics Engineering
United States
Floor/Room #: 
Suite 201, RBE 209 (Conference Room)

RBE Ph.D. Proposal Presentation

Junius Santoso

Modular Origami Continuum Robot: Sensing, Planning, and Actuation


Abstract: Continuum manipulators, robot limbs inspired by trunks, snakes, and tentacles, represent a promising field in robotic manipulation research.  They are well known for their compliance, as they can conform to the shape of objects they interact with.  Furthermore, they also benefit from dexterity and reduced weight compared to traditional rigid manipulators.  However, the current state of the art continuum robots typically consist of bulky pneumatic or tendon driven actuation system at the base hence hindering their scalability. Furthermore, they tend to sag due to their own weight and weak in torsional direction hence limiting their performance under external load. This work presents an origami-inspired cable driven continuum manipulator module that offers low-cost, low-volume deployment, light weight, and inherently safe for human robot interaction. The proposal will include contributions in the design of the modular and torsionally strong continuum robot, the motion planning and control of the system, and finally the embedded sensing to close the loop providing robust state feedback. 


PhD advisor:
Prof. Cagdas Onal, Worcester Polytechnic Institute (WPI)

PhD committee members:
Prof. Jing Xiao, Worcester Polytechnic Institute (WPI)
Prof. Loris Fichera, Worcester Polytechnic Institute (WPI)
Prof. Jamie Paik, École polytechnique fédérale de Lausanne (EPFL)

Kristen Bronger, RBE Administrative Assistant
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