Robotics PhD Dissertation Defense: Junius Santoso | Toward Deployable Origami Continuum Robot: Sensing, Planning, and Actuation


five robots in a line, ordered small to large - the words "Robotics Engineering" are on the top left - the WPI logo is on the bottom left alt
Robotics Engineering - WPI
Thursday, October 24, 2019
12:00 pm to 1:00 pm
Floor/Room #: 
Robotics Engineering, Suite 201, Room 209 (Conference Room)

Robotics Ph.D. Dissertation Defense

Junius Santoso

Toward Deployable Origami Continuum Robot: Sensing, Planning, and Actuation


Thursday, October 24, 2019

12:00 am - 1:00 pm

Suite 201, 85 Prescott St. | Robotic Conference Room 209


Abstract: Continuum manipulators which are 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 improved dexterity and reduced weight compared to traditional rigid manipulators. The current state of the art continuum robots typically consist of a bulky pneumatic or tendon-driven actuation system at the base, hindering their scalability. Additionally, they tend to sag due to their own weight and are weak in the torsional direction, limiting their performance under external load. This work presents an origami-inspired cable-driven continuum manipulator module that offers low-cost, light-weight, and is inherently safe for human-robot interaction. This dissertation includes 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 feedback.

Ph.D. Advisor:          

Professor Cagdas Onal, Worcester Polytechnic Institute (WPI)

Ph.D. Committee:    

Professor Jing Xiao, Worcester Polytechnic Institute (WPI)

Professor Loris Fichera, Worcester Polytechnic Institute (WPI)

Professor Jamie Paik, École polytechnique fédérale de Lausanne (EPFL)

Kristen Bronger, RBE Administrative Assistant