Collaborators: Nadia Cheng, Maxim Lobovsky, Steven Keating, Katy Gero, Anette Hosoi, Karl Iagnemma
This highly articulated snake-like robot uses non-traditional actuators. Through reverse jamming of granular media by creating a vacuum, the segments of the manipulator can individually transition between solid-like states and fluid ones. Combined with traditional off-board motors and tension cables to achieve complex manipulator configurations, I helped design the software that enabled the motion of the platform.
Nadia Cheng, Maxim Lobovsky, Steven Keating, Adam Setapen, Katy Gero, Anette Hosoi, and Karl Iagnemma. Design and Analysis of a Robust, Low-cost, Highly Articulated Manipulator Enabled by Jamming of Granular Media. 2012 IEEE International Conference on Robotics and Automation (ICRA 2012).
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