Creating novel robotic platforms to enable the study of new paradigms in robotic performance and interaction with objects, people and the environment
Circadian (24hr) rhythms are fundamental to biological systems. However, they are largely ignored in tissue engineering. Maintaining these rhythms in in vitro tissue cultures is difficult. It requires (1) delivering circadian signals with high timing accuracy; (2) collecting data with high time resolution; and (3) aligning local therapeutic delivery with circadian rhythms.
We investigate into the advantages that an actuated toe can bring to dynamic locomotion, utilizing our custom-designed robot, StaccaToe. StaccaToe's design is based on the innovative HyperLeg, incorporating co-actuation and non-collocation principles to create an efficient and effective robotic leg with an actuated toe. We aim to implement a comprehensive range of control strategies, including trajectory optimization, Model Predictive Control (MPC), and whole-body control, to enable StaccaToe to perform agile and highly dynamic maneuvers.
