My research focuses on the combination or really the integration of locomotion modes to improve the mobility of small scale robotic systems.
Inspiration is achieved through analysis of the integration strategies used by biological organisms where key abstractions can be identified and implemented in the development of these types of integrated locomotion systems.
The benefits of an integrated approach are a smaller and lighter system with high levels of cooperation between the modes all resulting in a higher performance robotic platform.
The integrated approach inherently decreases the number of components and increases their functionality which results in research into specific components of the small scale robotic systems which including: airfoils, actuators, energy storage devices, and etc.
PhD: Mechanicaql Engineering, Carnegie Mellon University, USA, 2017
MS: Mechanical Engineering, Carnegie Mellon University, USA, 2011
BS: Mechanical Engineering, San Diego State University, USA, 2008
IEEE Transactions on Magnetics, 54(1):1-13, October 2018 (article)
A design methodology is presented for creating custom complex magnetic springs through the design of force-displacement curves. This methodology results in a magnet configuration, which will produce a desired force-displacement relationship. Initially, the problem is formulated and solved as a system of linear equations. Then, given the limited likelihood of a single solution being feasibly manufactured, key parameters of the solution are extracted and varied to create a family of solutions. Finally, these solutions are refined using numerical optimization. Given the properties of magnets, this methodology can create any well-defined function of force versus displacement and is model-independent. To demonstrate this flexibility, a number of example magnetic springs are designed; one of which, designed for use in a jumping-gliding robot's shape memory alloy actuated clutch, is manufactured and experimentally characterized. Due to the scaling of magnetic forces, the displacement region which these magnetic springs are most applicable is that of millimeters and below. However, this region is well situated for miniature robots and smart material actuators, where a tailored magnetic spring, designed to compliment a component, can enhance its performance while adding new functionality. The methodology is also expendable to variable interactions and multi-dimensional magnetic field design.
Our goal is to understand the principles of Perception, Action and Learning in autonomous systems that successfully interact with complex environments and to use this understanding to design future systems