Research Experience

K. Dai, X. Wang, A.M. Rojas, E. Harber, Y. Tian, N. Paiva, J. Gnehm, E. Schindewolf, H. Choset, V.A. Webster-Wood, L. Li, "Design of a Biomimetic Tactile Sensor for Material Classification", IEEE International Conference on Robotics and Automation (ICRA), 2022 (Outstanding Mechanisms and Design Paper )  link

Tactile Sensing for Plastic Recycling 

Biorobtoics Lab, CMU(Advisor: Howie Choset)

May 2020 - May 2022

Our aim is to tackle plastic recycling plastic problems using tactile-based force sensors. We developed force sensors with human fingerprint patterns to increase the classification accuracy for materials of different roughness. 

I gained skills in data processing and knowledge in machine learning methods. 

I also designed an underactuated gripper that's able to adapt to the shape of the grasped object. This gripper is equipped with force-sensing finger pads that I designed to manipulate compliant objects. I wrote scripts in Python and C++ and used ROS to control the gripper from force-sensing information. 

Hardened Underwater Modular Robot Snake (HUMRS)

Biorobotics Lab, CMU(Advisor: Howie Choset)

Spring 2021

We developed an underactuated modular snake robot that's able to swim underwater. I was in charge of the snake sensing module which allows the snake to perform inspection tasks. Check out the video here!

The challenge for this module was that I needed to separate the lens for the camera and the lens for the LED light to avoid the reflection of the LEDs on the camera while maintaining high positive pressure. I went through multiple design iterations where I needed to present my design to senior mechanical engineers in the lab. During this project, I also learned how to use O-rings for sealing, how to create professional drawings to send to machine shops using GD&T. I also implemented a second version of the module after testing the first version design on the robot. 

Passive Bistable Coupler for PuzzleBot, a Reconfigurable Swarm Robot System 

Xinyu Wang, Sha Yi, Zeynep Temel

May 2021 - Present

Our goal is to develop a coupling mechanism for swarm robots to save energy when they connect and disconnect. Our solution is to use a passive coupler instead of one that is actuated. To increase the load that the connected robots can carry and to achieve a stronger connection, I proposed a bistable coupler design. 

I worked with TPU and used Prusa 3D Printer to implement my couplers. Because of the bistable nature, my design allows the robot to connect easily when the couplers are in the first stable state. The robots are able to disconnect with each other when they push the coupler to the second stable state. They can later use their environment to restore the coupler for future connections. 

"Blimp", blimp-like UAVs for Ship Hall Inspection and Tunnel Excavation Front Inspection

CERLAB(Advisor: Kenji Shimada)

Fall 2020 - Spring 2021

Our team developed two blimps for companies in Japan. One is a 3-meter long Blimp that is able to hold 1.5kg payload for ship hall inspection for Tsuneishi and the other one is a 1-meter long Blimp for Tunnel excavation front inspection for Toprise. We chose the Blimp design because it is safe around human operators and it is energy-efficient since the buoyancy from Helium helps it to maintain its height.