To expand extra-planetary mission support capabilities, highly specialized robotic systems are developed and implemented that are not generalized enough for successful implementation across multiple environments. Here, a tetrapodal robot capable of task-oriented locomotion and manipulation is envisioned that can serve as a robust platform for mission support across multiple gravitational environments. The proposed system, referred to as the Trans-Gravitational Robot (TGR), is anticipated to operate in orbital, Lunar, and Martian environments by employing dexterous limbs capable of compliant actuation for both locomotion and manipulation. A simplified robot limb design with variable stiffness and compliance is proposed as a proof of concept of essential technologies for the development of the TGR. Antagonistic actuation is achieved using a novel, nonlinear, torsional spring module, coined the Bidirectional Elastic Nonlinear Element (BENE). A design approach for this elastic element as produced, which allows for scalable and customizable elastic element designs to be produced using the same basic approach. The implementation of the BENE modules for antagonistic actuation enabled the decoupled and straightforward control of position and stiffness. The BENE and its accompanying control scheme were developed and validated as proof-of-concept for variable stiffness actuation for the TGR limb.

Creator

• Florez-Castillo, Juan-Diego

Contributors

• Gennert, Michael A.
• Fischer, Gregory S.
• Popovic, Marko B.

Degree

• MS

Unit

• Robotics Engineering

Publisher

• Worcester Polytechnic Institute

Identifier

• etd-4151

Advisor

• Popovic, Marko B.

Committee

• Gennert, Michael A.
• Fischer, Gregory S.

Defense date

• 2020-08-10

Year

• 2020

Date created

• 2020-08-13

Resource type

• Thesis

Rights statement

• In Copyright