BiQu (Bimodal Quadruped) started out as a Major Qualifying Project at WPI. The goal was to explore multi-modal locomotion, including getting a quadruped to stand on two legs. The team started with building a 12-DoF quadruped based on the Solo-12 design in 2021 followed by creating BiQu Software which allowed the robot to perform backflips and walking gaits in simulation. BiQu has since grown into a mature research endeavor at WPI, with the goal of furthering the field of legged loco-manipulation.
Learn moreSince 2023, BiQu and HERO have worked hand-in-hand to develop Galileo: WPI's in-house psueodspectral collocation solver for hybrid systems. An example of the types of problems Galileo may solve include legged robot locomotion, optimally driving an autonomous vehicle, or even flying a drone while avoiding obstacles.
Learn moreUnlike the usual wheel-based robot that navigates in a 2D ground plane, a quadruped robot needs elevation information of its surrounding environment in order to execute precise foot placement over complex terrain. For such purposes, a 3D mapping of the target terrain is required. We picked the Realsense camera D453i from Intel and planned to mount it at the front of the Go1 to generate the point cloud map. Also, with the built-in IMU module inside the D435i, we were able to build the perception platform separately from the Go1. In such a way, our perception module can be developed and tested independently, which allows it to be easily implemented on any robot platform with few calibrations.
Learn MoreStarting in 2022, we designed and built a custom bipedal robot called HERO (Humanoid Exploratory Robot). We designed controllers for push recovery and taking steps in simulation using sliding mode control and pseudospectral collocation, respectively.
Learn moreHumanoid robots can potentially replace humans in hazardous environments. If these robots can imitate humans with precision, they can also be utilized in a variety of other fields where they can collaborate with humans. The objective of this initiative was to create a novel torso mechanism that could be utilized in a humanoid robot. We created a novel mechanism that can move in flexion/extension, lateral flexion, and rotation, much like a human torso. It also includes a unique imitation spine that lessens the force on the torso actuators while contributing to the robot's anthropomorphism.
We have developed a soft-layered, cable-actuated robotic hand combined with a motored-controlled arm that is anatomically proportional and accurately represents the dexterity of human capabilities. The arm functionality is demonstrated via various arm gestures and mimicking full-motion American Sign Language (ASL) gestures. Future work includes implementing all degrees of freedom, actuation feedback, and the soft material aesthetic for the arm.
A wheeled robot would be highly efficient for traditional floor navigation, but unable to traverse complicated obstacles. A legged robot would accomplish this navigation, but would not be the most efficient design. We have explored the effectiveness of combining wheels and legs to create a highly robust mobile platform that can accomplish many types of locomotion as efficiently as possible.
We have developed an insole that can sit inside the shoe (shoepad) and measure and monitor the balance of the person wearing it. We have utilized sensors, IMU, microcontroller, wireless module, PCB, and rechargable battery all wrapped insdie the silicone insole. Multiple versions of the insole are already built. The project included defining a dynamic balance criterion to measure the stability level based off of the measured data. As part of the project, we have designed and fabricated a magnetic soft force sensor.
A six-axis 3D printer - a hexapod walking robot that walks and prints parts larger than its own size; something that cannot be done using available regular 3D printers.