UC San Diego

This research encompasses the development of two mobile robots. Both of the robots feature relatively large coaxial wheels on either side of a chassis for locomotion. The first has rimless wheels formed by articulated spokes used to relocate the center of gravity and modify the support structure. The second uses the stabilization of a boom extended vertically for travel. Part 1 considers the locomotion of the actuated spoke rolling/walking/climbing robot. This novel platform provides agility for a robot capable of rolling like a wheel with a varying radius, climbing over obstacles, shimmying within a vertical shaft and creeping at a very compact height. The research focuses on determining the dynamics for a specific design, developing semi-autonomous motion planning and utilizing feedback control for end-effecter positioning and active suspension. The experimental portion focuses on sensor and actuator implementation, motion planning of varied locomotion modes and feedback control performed by an on- board microprocessor. Part 2 considers the design of three novel ping pong ball handling features for an existing rolling and ball flinging robot. Previously, the robot was able to throw balls that were manually loaded. This research in mechanical design yielded greater autonomous capabilities by adding ball-pickup, storage and release mechanisms