Synthesis and prototyping of advanced robotic mechanical systems

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Robotics has progressed very rapidly over the last decade. New applications for robots continue to emerge in many areas. These new applications constantly redefine the requirements on robotic mechanical systems and bring new challenges to robotics researchers. The proposed research program aims at synthesizing and prototyping innovative robotic mechanisms in four areas (addressed in parallel) that are thought to be original and promising. First, mechanisms driven with multiple cable loops will be investigated. The basic principle behind the use of cable loops is to combine the low inertia of cables with the stiffness provided by the closed loops. This principle is already found in planar systems but it will be extended here to 3D systems and a prototype will be built to demonstrate the concept. In a second research avenue, cable-suspended mechanisms that behave similarly to a child's swing (but extended to 3D) will be studied and a prototype will be built. The general idea is to develop robots that can swing themselves around to reach prescribed targets in 3D space. In a third investigation, a mechanism will be built to allow a person to freely walk in a virtual world while remaining in a confined space. The proposed mechanism departs from conventional treadmills and will allow the simulation of a walk on uneven terrain (e.g. stairs). It will consist of platforms attached under the feet of the user and driven by a robotic device. Finally, a hand interface will be developed in order to simulate the manipulation of material (e.g. clay) by a person. This interface can be thought of as an interactive glove box in which a pair of gloves are driven by a set of cables surrounding the gloves inside the box. Globally, the research program will advance robotic science in areas that are natural extensions of the applicant's past and current research.