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General Automation and Sensing Laboratory (GRASP) at the University of Pennsylvania (Modlab)
General Automation and Sensing Laboratory (GRASP) at the University of Pennsylvania (Modlab)
Summary - NASA LuSTR Research Asssitant @ ModLab
Summary - NASA LuSTR Research Asssitant @ ModLab
As part of the NASA-funded Lunar Surface Technology Research (LuSTR) program, I contribute to the TRUSSES project, which develops a modular, cooperative multi-robot system for autonomous assembly and infrastructure deployment on the Moon.
Key Responsibilities and Contributions
Docking Mechanism Design:
Lead the design of a vision-guided autonomous docking system that allows robots to locate, align, and mechanically connect using AprilTag localization, sensor fusion, and push-lock latching mechanisms. The system is engineered for reliability in low-visibility, unstructured lunar terrain.Robot Development and Control Integration:
Develop the control architecture and embedded electronics for one of the core ground robots, integrating low-level actuation, ROS 2 navigation, mapping, and perception modules to enable semi-autonomous operation.Latching and Undocking Subsystems:
Co-develop an actuated latching system enabling secure attachment and detachment between robots for cooperative transport, rescue, and truss assembly.System Autonomy:
Write C++ and Python control code for real-time actuation and trajectory planning, supporting coordinated multi-robot maneuvers during docking and cooperative mobility.Cross-Functional Collaboration:
Work across mechanical, electrical, and software teams to establish unified system architecture, iterative prototyping processes, and full-scale field validation in analog environments such as White Sands, NM.
This work supports NASA’s vision for autonomous in-situ infrastructure deployment, advancing robotic systems that can adapt, collaborate, and construct in extreme extraterrestrial environments.
A full technical case study detailing the TRUSSES rover, docking mechanism, and multi-robot field trials is available:
TRUSSES - Case Study - Technical Report
University of Pennsylvania, the University of Southern California, Texas A&M University, Georgia Institute of Technology, Oregon State University, Temple University, and NASA
University of Pennsylvania, the University of Southern California, Texas A&M University, Georgia Institute of Technology, Oregon State University, Temple University, and NASA
Current Hardware Versions: Fall/Winter 2025
Current Hardware Versions: Fall/Winter 2025
Top Left: TRUSSES rover (pHusky V3 - White Sands) with two docking mechanism, Bottom Left: TRUSSES quadruped (Spirit) with a turret (probe) docked onto the TRUSSES rover Top Right: Exploded view of docking mechanism and Turret design.
Left to Right: 2X-RHex V2 CAD Design + Chassis
Intelligent Control and Robotics Laboratory at the University of Rhode Island
Intelligent Control and Robotics Laboratory at the University of Rhode Island
Below are my three research projects that I was working on as an undergraduate research assistant at the University of Rhode Island, under the supervision of PI's Dr. Paolo Stegagno, and Dr. Chengzhi Yuan
Multigait - Soft Robotics
Multigait - Soft Robotics
Introduction:
Introduction:
Utilizes silicone-based materials for creating molds, actuators, and air channels.
Enables the creation of robots that can safely interact with humans.
Designed for tasks that traditional, hard robots cannot perform.
Manufacturing: Soft robots can work alongside human operators with minimal risk.
Search & Rescue: Capable of navigating tough conditions to handle fragile objects in challenging environments.
Summary:
Summary:
Inspired by biological and animal mechanisms.
Initial inspiration came from a pneumatic robot with an elephant trunk made of silicone.
This led to the development of a robot inspired by a four-legged creature with multiple gaits.
Design and testing based on mathematical models for circular motion and analysis.
Features four air-actuated legs and a central chamber.
Extensive fluid and mechanical analysis to optimize air channels and gaps for precise movements.
Aims to explore various air channel designs, wall thicknesses, and silicone materials to enhance the capabilities of silicone-based robotics.
Current Work / Progress:
Current Work / Progress:
Focusing on finalizing wall thicknesses, air channel dimensions, and sizing for specific silicone types.
Utilizing 00-30 silicone, differing from the 00-50 silicone commonly used in other soft robotics.
Incorporating an Optitrack system and DC motors to develop a state-based control system and PID controller.
This system will enable the robot to perform tasks such as turning, moving in specific directions, and using all four legs for grappling.
Planning to publish findings with my Principal Investigator before my graduation from the University of Rhode Island in May 2024.
Undergraduate Poster Research Showcase - May 2024
Undergraduate Poster Research Showcase - May 2024
Swarm Robotics - Encirclement and Containment Control
Introduction:
Introduction:
Utilizes the Robot Operating System for modeling and characterizing the behavior of ground robots in diverse environments.
Focuses on implementing low-level controllers with minimal hardware requirements.
Aims for swarm robots to achieve complex behaviors, patterns, and environmental recognition using simple control systems and hardware.
Current Work / Progress:
Current Work / Progress:
Developing additional physical test robots to experiment with specific algorithms for pattern testing.
Objectives for robot tasks include:
Mapping their surroundings.
Detecting and pinging the location of nearby robots.
Transmitting their current positions in relation to mapped objects within the environment.
Facilitating communication among robots to prevent collisions using cameras, LiDAR, and RF transmitters and receivers.
ROS (Robot Operating System) Simulations of ground robot with Lidar sensors mapping environment utilzing low level controllers with active obstacle avoidance.
2023-12-12 14-01-35.mp4Page updated
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