Generative Design of NU's Husky Carbon, A Morpho-Functional, Legged Robot

Abstract

We report the design of a morpho-functional robot called Husky Carbon. Our goal is to integrate two forms of mobility, aerial and quadrupedal legged locomotion, within a single platform. There are prohibitive design restrictions such as tight power budget and payload, which can particularly become important in aerial flights. To address these challenges, we pose a problem called the Mobility Value of Added Mass (MVAM) problem. In the MVAM problem, we attempt to allocate mass in our designs such that the energetic performance is affected the least. To solve the MVAM problem, we adopted a generative design approach using Grasshopper's evolutionary solver to synthesize a parametric design space for Husky. Then, this space was searched for the morphologies that could yield a minimized Total Cost Of Transport (TCOT) and payload. This approach revealed that a front heavy quadrupedal robot can achieve a lower TCOT while retaining larger margins on allowable added mass to its design. Based on this framework Husky was built and tested as a front heavy robot.

Efficient Path Planning and Tracking for Multi-Modal Legged-Aerial Locomotion Using Integrated Probabilistic Road Maps (PRM) and Reference Governors (RG)

“…We utilized the cost of transport of Husky as reported from our previous work [12], and an estimation of energy consumption of the propeller motors during flight for a robot of this size and weight class. In the case of environment A shown in Fig.…”

“…Extensive use of carbon fiber epoxy laminates fortify the airframe and leg bones, while 3D printed components with carbon fiber reinforcement serve as connecting members. The electronics are mounted on two vertical carbon fiber plates to yield a minimized Total Cost of Transport (TCoT) and payload [12].…”

“…1. Illustrates NU's Husky Carbon Platform designed to explored multi-modal mobility in unstructured spaces [12]. and robust locomotion feats and can fly over larger walls, inside tight spaces, can recover from unpredictable situations such as severe external pushes, scuffing, or slippage on icy surfaces.…”

Skeletal Modeling in Rhino Grasshopper—A Confirmed Kinematic Model

“…It is a powerful tool widely used by various engineers and designers to develop custom scripts [19]. Since it is flexible tool that is able to read, write, and manipulate or process various data with preintegrated tools it was recommended that it might be supplementary for the biomechanics field [20][21][22][23]. This tool brings biomechanical research access at a very affordable price and allows engineers and researchers who already have 3D modeling or visual programing experience to use their knowledge in building skeletal models in Rhino Grasshopper.…”

Legged walking on inclined surfaces

“…According to the results generated by HuskyCarbon's MVAM problem [44], all electrical components are mounted on a vertical structure to reduce the TCoT. Figure 3.2 shows the electronic carrier plate which forms a vertical structure which carries all essential electronics of the robot.…”