Omnidirectional Tractable Three Module Robot
Protusion on the rubber lugs provides extra friction (repainted)
10/8(update)- Video demo showcasing the novel holonomic capability to negotiate T junction. Going straight in t junction and the robot traversing in turns.
The Nylon chassis delivers high strength for less weight.( Iteration 1, note that the design has been changed since)
Tractable Three Module Compliant Robot
Presently at Robotics Research Center,under the guidance of Dr. Abhishek Sarkar, I am working on the development of Tractable Three Module Pipe Climbing Robot.I believe that robot should have passive members wherever possible and complexity should be reduced when you know the environment, like that of a pipeline.
The robot has the ability to overcome motion singularity faced by other similar orientation robots in branched pipelines.The omni-directional modules enable it to rotate in-plane along the circular cross-section.
​
Testing is being done to get the right stiffness in springs for efficient vertical climbing.
Research is being done to develop a compact Linear Series Elastic actuator(LSEA) to be implemented in the next prototype for compliance in different diameters pipelines