Principal Investigator Sangbae Kim
Project Website http://web.mit.edu/sangbae/www/research.html
MIT biomimetic robotics lab aspires to develop foundation for hyperdynamic robotics. Hyperdynamic robotics involves dynamic modeling, multi-layer control architecture, monolithic multi-material manufacturing, actuation technology, and morphological design tool that enable development of high performance dynamic robotic platforms.
Of particular interest is galloping, jumping, and energy efficient trotting. Based on the mechanical properties of actuators, the actuator allocation and actuation scheme can be optimized in order to achieve a desired maximum performance. Key component thrusts include the development and implementation of the smart impedance control unit to implement the passive dynamics in pursuit of optimized force coordination of multi-degree of freedom legs and effective energy storage.
Hyper dynamic robotics inevitably incorporates robust structure design with selectively compliant body, which also plays significant roles in a series of actuator best performance. Coordination of force controllable direction and shock direction when the platform fails.