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

Ramezani, Alireza; Dangol, Pravin; Sihite, Eric; Lessieur, Andrew; Kelly, Peter

doi:10.1109/icra48506.2021.9561196

Cited by 14 publications

(6 citation statements)

References 21 publications

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“…In this thesis, I have introduced the goals of the Harpy project and its innovative design which was inspired by Widowbird. Harpy's legged design was built upon the husky generative design [15]. Due to Harpy's thruster, it has an advantage over the traditional bipedal robot and can perform complex tasks with ease.…”

Section: Discussionmentioning

confidence: 99%

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Dynamic multimodal locomotion: a quick overview of hardware and control

Pitroda

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This work was made possible by all those at SiliconSynapse Lab at Northeastern University who assisted me during the process of my thesis. Prof. Alireza Ramezani, my primary adviser, has supported and believed in me from the very first day of my graduate studies. He has been instrumental in guiding and challenging me throughout my research career, in addition to giving me the opportunity to work on extremely interesting and exciting projects. I would also like to thank all of my lab mates, including Kaushik, chenghao, Adarsh, Aniket, Bibek, Xuejian, and Yizhe for their help with hardware, experiments, control design, simulation, and consistent encouragement. I would also like to thank Prof. Rifat Sipahi serving as my mechanical engineering department coadviser and thesis reader. Finally, none of this would be possible without the support of my parents and my brother. Throughout my life, they have always pushed me to be better and been behind me every step of the way for all the things I've wanted to achieve. vi

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Section: Discussionmentioning

confidence: 99%

“…Harpy not only builds upon Husky's [15] innovations but also refines them. Specifically, Harpy enhances design elements initially validated on the Husky platform.…”

Section: Husky Carbonmentioning

confidence: 99%

Dynamic multimodal locomotion: a quick overview of hardware and control

Pitroda

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“…The concept of Morpho-functional robots, capable of both legged and aerial modes, was introduced [34]. Innovative research enabled legged walking on inclined surfaces [35], while a scalable UGV-UAV morphing robot demonstrated autonomous 3D path planning [36].…”

Section: Past Work and History Of The M4 Robotmentioning

confidence: 99%

Towards autonomous multi-modal mobility morphobot (M4) robot: traversability estimation and 3D path planning

Rajput

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This thesis enhances the autonomy of the M4 (Multi-Modal Mobility Morphobot) robot, designed for Mars and rescue missions. The research enables the robot to autonomously select its locomotion mode and path in complex terrains. Focusing on walking and flying modes, a Gazebo simulation and custom perception-navigations pipelines are developed. Leveraging deep learning, the robot determines optimal mode transitions based on a 2.5D map. Additionally, an energyefficient path planner based on 2.5D mapping is implemented and validated in simulations. The contributions demonstrate scalability for future mode integrations. The M4 robot showcases intelligent mode switching, efficient navigation, and reduced energy consumption, bringing us closer to fully autonomous multi-modal robots for exploration and rescue missions. This work paves the way for future advancements in autonomous robotics, with the ultimate vision of deploying the M4 robot for exploration and rescue tasks, making a significant impact in the quest for intelligent and versatile robotic systems. vii

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“…Harpy is bipedal, multimodal robotic platform designed by Northeastern's Silicon Synapse Lab [9] in conjunction with other multimodal robotic platforms such as Husky [23][24] and M4 [25].…”

Section: Overview Of Current Harpy Designmentioning

confidence: 99%

Binary passive element leg: a design framework for a legged system

Carlson

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has supported and believed in me from the very first day of my graduate studies. He has been instrumental in guiding and challenging me throughout my research career, in addition to giving me the opportunity to work on extremely interesting and exciting projects. I would also like to thank all of my lab mates, including Shreyansh, Kaushik, Kruthica, Aditya, and Adarsh for their help with brainstorming, design, simulation, and consistent encouragement. I would also like to thank Prof. Rifat Sipahi serving as my mechanical engineering department co-adviser and thesis reader. Finally, none of this would be possible without the support of my parents and my brother. Throughout my life, they have always pushed me to be better and been behind me every step of the way for all the things I've wanted to achieve. viii

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

Cited by 14 publications

References 21 publications

Dynamic multimodal locomotion: a quick overview of hardware and control

Dynamic multimodal locomotion: a quick overview of hardware and control

Towards autonomous multi-modal mobility morphobot (M4) robot: traversability estimation and 3D path planning

Binary passive element leg: a design framework for a legged system

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