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%

For more updates contact us at: pebil@mmmi.sdu.dk