Projects

Research a: Kinematically Reconfigurable Full-sized Humanoid, HART

This project is focusing on the continued development of HART (Human Assistive RoboT). HART has been designed and built by ART (Assistive Robot Team) in University of Hartford since 2017. To enable the robot to manipulate various control inputs of off-the-shelf vehicles with different sizes and structures in the market, HART's mechanical design is focused on the achievement of kinematic re-scalability as its main technical design requirement. Currently, the mechanical design upgrade which can increase the robots power and dexterousness to control the steering wheel of the assigned vehicle is underway. For this, the third arm which is newly designed with passive joints and expendable links is built and added to HART. Also, HART's new sensor head is also redesigned for advancement of its perception capability. Lastly, the upgraded robot is under test and evaluation process in human-centered environments which include both indoor and outdoor task spaces.

Research b: Mini Humanoid in disaster

Project 1: Autonomous Control Design for Miniature Humanoids in Disaster Mock-up

This project is focusing on the development of the control system for miniature humanoid platforms which can execute human-assistive tasks in disaster mock-up. They include various rescue activities, such as, driving, door opening, valve turning, hose attachment, debris removal, rough terrain walking and stair climbing. The platform is also used for various competitions (HC: Humanoid Challenge ) and education activities (CT Next).

Project 2: Miniature Humanoid and Drone Collaboration

This project is focusingon the development of the approach to increase the perceptual space of a ground robot (humanoid which has limited sensory abilities) via its accompanying aerial robot’s data transmission. First, the robot which has only 2D camera sensor used the hip-sway motion to predict the target’s 3D position and orientation in its sensor coordinate. The pose data is refined with a iterative method using the ego-motion estimation of the humanoid. Then, the neighboring drone which is equipped with 3D camera system is controlled to detect the same target object. The measured pose of the target object in the aerial robot’s perceptual space is combined with the object’s calculated coordinate (which is constructed from the humanoid’s 2D sensor). The fusion process enabled the localization of the humanoid in the drone’s collected 3D point cloud data of the task environments. The combined coordinates are then used for motion-planning of the humanoid for its safe and effective task manipulation in the field. Through experiments with a small-sized humanoid robot and a drone, the presented approach is tested and evaluated in a mock-up of the task field.

ResEARCH c: QuadrupedED AND DRONE

Project 1: Kinematically Re-sizable Quadrupedal Robot, HARQ

This project is focusing on the development of kinematically adjustable quadrupedal robot platform, HARQ (Human Assistive and Robust Quadruped) which has been designed and built by ART (Assistive Robot Team) in University of Hartford since 2019. The main objective of HARQ is to assist various tasks of human workers in dangerous work environments such as disasters. In this project, the mechanical design and building processes of HARQ which focused on kinematic adaptivity and low-cost manufacturing as its main technical design requirements are implemented first. Then, the kinematic analysis and its implementation in the low-level body controller of the quadrupedal robot are done. HARQ is under test and evaluation process both in a simulated environment using its virtual model and in an outdoor environment using the physically built platform with various whole body motions which are designed for the robot’s navigation.

Project 2: Tele-operational UAV with Dynamic Flying Capability

This project is focusing on the development of a low-cost drone prototype that can transport a payload with long distance autonomously since Feb 2022. Recently, the team completed building the first prototype and demonstrated successful tele-operated flying in the university campus. In coming spring 2023 semester, they will continue to develop the more advanced navigation functions of the drone. Their specific goal is to enable the drone to deliver a lunch box of on-campus restaurant (Moe’s Southwest Grill) to the destination safely.

ResEARCH d: SERVICE Robot

Project 1: Small-sized Caterpillar Service Robot, SCSR

The built platform is for providing various services (such as guides, sales/reservation, data providing and safe-guard) which customers (in service and retail industries) want with uniform quality. Since the built robot can be placed in common settings in retails and hospitality, such real-world settings is expected to offer big data opportunities either. The robot that co-exists with people will enable the robot-employer (business owner) to aggregate big data and perform analytics.

Project 2: Semi-Autonomous Mobile Robot Platform for Physically Disabled Children, i-Explore

This project is focusing on the development of mobile transportation robot, i-Explore which has been designed and built by ART (Assistive Robot Team) in University of Hartford since 2018. The main objective of i-Explore is to assist and carry children who have severe physical disabilities in indoor environments, especially for domestic uses. In this project, the mechanical design and building processes of i-Explore which focused on fast reactiveness and low-cost manufacturing as its main technical design requirements are implemented first. Then, the kinematic analysis and its implementation in the low-level body controller of the mobile robot are done. Currently, i-Explore is under test and evaluation process both in cleaned and cluttered works spaces with its semi-autonomous motions which are designed for the robot’s navigation in human centered environments.

ResEARCH e: Advanced Task Industrial Robot

Project 1.Multi Robot Workforce

Collaboration between industrial robot (Baxter) and aerial vehicle (Drone) for various manipulation tasks. Sensor Data Fusion (3D Point Cloud Data) from multi sources for maximization of data in a shared task space.

Project 2. Human’s Bio-Signal Controlled Industrial Robot

Planning and implementing motion of industrial robot (Baxter) based on the electrical activity produced by skeletal muscle of human (using Electromyography - EMG)

Project 3. IoT Mdeical Device Development for Robot

Development of Viral sensor which supports the diagnosis of patients and the communication with the custom-built web-server. The sensor is kinetically designed for manipulator of the robot.

Project 4. Smart Factory: Collaboration between UR3 (with Camera) and PLC-Conveyor Belt

Development of small-sized smart factory which UR3 (collaborative robot) that is equipped with camera vision sensor (computer vision library supported) collaborates with the conveyor belt system which is controlled by PLC.

More details with each project can be found by clicking the Publications menu above or Publications