CoCrIP
Prototyping the Flexible Channel for guiding chain movement in compliant form was the hardest task.
CoCrIP
The final prototype of one of the modules
After coming to Robotics Research Center, I worked on the robustification of the CoCrIP robot which was selected in IROS 2017
The robot holonomic structure with six rotary series elastic actuators(RSEAs) enabled it to comply while taking sharp bends.It is among the few robots which can go into pipelines of diameters as less as 75mm.
Working on the stronger chassis we realized that the compliance in the middle module was demanding excessive torque and was highly inefficient.
We tried developing a spherical middle module which even after several design iterations was unsuccessful in vertical climbing.
The robot was recognized and awarded by the Indian Military