MEng Project Description #1: Control of an Efficient, Hydraulic, Human-Scale Robot Leg
Description:
This project will involve research in efficient walking gaits for humans and human scale robots. After a survey of walking gaits is complete, the various selected walking/jogging gaits will be transformed into reference trajectories for the control system. The bulk of this project will entail designing and implementing the controls to have the robot leg walk as efficiently as possible. The leg is approximately the size of a human male's leg, and is powered hydraulically. The leg is a demonstration platform for a novel control valve that will be used to improve the efficiency of hydraulic systems.
Requirements:
- A good understanding of dynamics, fluid dynamics, and feedback control systems
- Experience using microcontrollers for closed loop feedback control (more than Mechatronics!)
- Have used various sensors and data acquisition systems (ability to read and understand datasheets)
- Programming in C
- An interest in bio-inspired locomotion and efficient walking gaits
- Familiarity with hydraulic systems a desired plus
Contact:
Mike Meller, mam627@cornell.edu
Prof. Garcia, eg84@cornell.edu
MEng Project Description #2: Design and Construction of a Valve for the control of a Human-Scale Robot Leg
Description:
This project will involve successfully designing and machining a directional control valve with the ability to dangle. This control valve is different than other control valves in that it allows for a free moving more efficient state. Since this is a custom valve, it needs to be designed and constructed for testing. Multiple designs and iterations will be constructed and tested. The final product must be leak-free at 100 psi and have an actuation system. The associated pressure-flow curve will be determined empirically. The valve will be implemented on the robot leg to control it to walk efficiently.
Requirements:
- A good understanding of fluid dynamics
- Proficient with SolidWorks
- Very good at machining
- Have worked with systems that required sealing
- Familiarity with hydraulic systems a desired plus
Contact:
Mike Meller, mam627@cornell.edu
Prof. Garcia, eg84@cornell.edu
MEng Project Description #3: Bio-Inspired Actuation – Fluidic Artificial Muscles
Description:
This project will involve research in fluidic artificial muscles. These actuators are extremely lightweight, strong, and work only in tension like real skeletal muscles. They consist of an elastomeric inner tube surrounded by a nylon helical mesh, and are actuated by varying the fluid pressure. Characterization tests will be performed to better understand the properties of these actuators and how they function. This will involve studying the relationship between length, force, and pressure of these actuators, as well as their dynamic qualities. Additionally, a new variation of these muscles will be constructed and tested to attain a locked position.
Requirements:
- Experience using microcontrollers for closed loop feedback control (more than Mechatronics!)
- Have used various sensors and data acquisition systems (ability to read and understand datasheets)
- Programming in C
- An interest in bio-inspired actuators
- Familiarity with hydraulic systems a desired plus
Contact:
Mike Meller, mam627@cornell.edu
Prof. Garcia, eg84@cornell.edu