ROBOT DEVELOPMENT
Two versions of dunge beetle robots will be developed in the DLife project.
The ALPHA being the first version. The ALPHA will be based on conventional actuators systems, which enables laboratory tests and comparison studies on the performance of bioinspired kinematics to conventional hexapod kinematics.
The BETA version will use a new type of proprioceptive actuators and gearbox that enables higher performance, field tests, as well as comparison studies to conventional actuator systems.
ALPHA Version
DESIGN DEVELOPMENT
Biological subject scan
100%
Kinematic replica
100%
Design conceptualisation
100%
V-REP force simulation
100%
MECHANICAL DEVELOPMENT
Actuator selection
100%
Frame
100%
Functional model #1
100%
Material selection
100%
Topological optimization
100%
Functional model #2
100%
Compliant foot design
70%
Shell development
100%
SENSOR ARRAY DEVELOPMENT
Low cost, high precision, 3DOF foot force sensor
100%
Head camera sensor array
100%
CONTROLLER DEVELOPMENT
Controller circuit
100%
Initial mobility controller
100%
Impact mitigation controller
80%
Climbing controller
15%
Task control
5%
TESTS
Prototype #1
100%
Laboratory tests
80%
Field tests
15%
PROMOTION
Publication #1
50%
Publication #2
5%
Performance video
30%
Website update
75%
For more updates contact us at: pebil@mmmi.sdu.dk
BETA Version
DESIGN DEVELOPMENT
Design conceptualisation
100%
V-REP force simulation
100%
MECHANICAL DEVELOPMENT
Actuator selection
100%
Gearbox
100%
Frame
45%
Functional model #1
100%
Material selection
100%
Topological optimization
60%
Functional model #2
50%
Shell development
20%
SENSOR ARRAY DEVELOPMENT
Propioceptive actuator
100%
Head camera sensor array
15%
CONTROLLER DEVELOPMENT
Controller circuit
60%
Motor driver
100%
Power electronics
40%
Initial mobility controller
60%
Impact mitigation controller
100%
Climbing controller
10%
Task control
5%
TESTS
Prototype #1
15%
Laboratory tests
15%
Field tests
15%
PROMOTION
Publication #1
2%
Publication #2
2%
Performance video
2%
Website update
25%