UC Santa Barbara

In this work, I developed four robotic systems with unconventional geometries: two multi-robot systems, and two single-robot systems. Unconventional robot geometries can provide simple solutions to perform target tasks. Two multi-robot systems leverage their geometry to easily connect together into tight-packed formations and exert forces upon each other. The first is a set of three robots that can each lift 30 kg and attach together to locomote. The second multi-robot system is a twenty unit collective that is strong enough to form sturdy structures capable of supporting a person 70 kg yet can flow into new flexible/elongated forms under its own weight. This development is a critical step toward the robotic materials of science fiction, capable of changing their material properties dynamically to suit any situation. The two single robot designs use their geometry to readily traverse unstructured terrain. The first strategy is to inflate a soft, shape changing skin to drive over rocks or up stairs. The next design is for a jumping robot that stores energy in a spinning flywheel, and releases that stored energy to jump. This jumping robot uses a deconstructed twisted string transmission, and preliminary results suggest a jumping efficiency nearly double that of previous elastic energy storage jumping robots. Careful consideration of robot interaction forces is the key to the success of these robots, and I will explore these forces in detail for each project.