Amphibious Krock 2 robot and challenges in multimodal locomotion
Salamander inspired platforms have been used to study robotic/biological
locomotion in the Biorobotics Laboratory at EPFL for over a decade, drawing
parallels between humanmade and natural systems to improve our understanding
of both. Our most recent iteration, Krock 2, is targeted towards search and
rescue applications within the NCCR Robotics program. Previously
demonstrated in terrestrial applications, it is now being introduced into
the water through the use of a dry suit and undulatory swimming gait.
Multimodal locomotion carries the inherent challenge that the morphology and
actuation for one mode may not be useful, or even present a hindrance, for
another. On the other hand, unique synergies between modes of locomotion can
present themselves. Its sprawling-posture gait and capability to swim along
the water's surface manage to avoid the persistent challenge of balance
within legged locomotion. However, this comes with inherent challenges in
the perception of the environment, which we are addressing in
Matthew Estrada is a Postdoctoral Researcher at the Biorobotics Laboratory
(https://www.epfl.ch/labs/biorob/), EPFL. He is currently leading the
hardware development, control, and simulation of the amphibious Krock 2
robot under the Swiss NCCR Robotics program.
Wednesday, September 23, 2020, at 11:30
Manno, Galleria 1, 2nd floor, room 222
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Due to COVID19 restrictions, there will be no pizza after the meeting.
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