Project Overview:

Developed a test platform used in pHRI research to evaluate how a robot can safely manipulate and extract humans in rescue scenarios. I built the mobile base supporting two 7-DoF Franka Panda arms and integrated a linear capstan-actuated active mass translation system to stabilize the platform during dynamic load shifts. This testbed enables controlled experiments to gather data on safe human–robot physical interaction under real-world constraints.

My Contributions:

My work focused on the mechanical design and integration of the mobile manipulator platform and active stabilization system used in physical human–robot interaction (pHRI) testing. I led the development of the platform’s structural frame and linear actuation system, ensuring the robot remained balanced and controllable under shifting loads.

Structural Integration:

• Designed and fabricated the mobile base supporting two 7-DoF Franka Panda arms (36 kg total) and a 10 kg payload for use in rescue-oriented pHRI experiments.

• Performed FEA to evaluate frame stiffness and stress distribution, reducing unnecessary mass while maintaining rigidity under dynamic, uneven loading.

• Developed mounting and counterweight configurations that allowed the platform to switch between transport and operational modes in minutes.

• Selected an aluminum extrusion chassis for ease of modification and repeatable testing setup.

Dynamic Stability & Capstan-Drive System:

• Designed a capstan-driven linear actuator using a tensioned steel cable and guide system to translate the robot’s center of mass during operation.

• Integrated the mechanism with a BLDC motor controller (ODrive) for precise, position-based actuation under heavy counterweight loads.

• Validated performance through load-shift tests, confirming repeatable center-of-mass adjustment and smooth motion without backdriving.

• Supported subsequent experiments analyzing stability and safety during human extraction maneuvers under varying payload conditions.

Project Overview:

Designed a robotic leg with a reconfigurable 5-bar linkage that enables dynamic switching between high-speed traversal and high-force load dragging. I built a testbed to validate simulation models by measuring real-world force output, then developed a bipedal prototype that demonstrated real-time transitions between locomotion modes. The system uses a custom non-backdrivable capstan actuator and Python/CAN control to execute stable gait cycles in both configurations.

My Contributions:

This research introduced a reconfigurable five-bar leg linkage that can mechanically switch between configurations optimized for rapid traversal and high-force rescue operations. I led the mechanical design, prototyping, and experimental validation efforts that translated theoretical models into working robotic hardware.

Mechanical Design & Implementation:

• Designed and fabricated the 5-bar morphing leg linkage and a planar testbed to experimentally evaluate its force output.

• Built a non-backdrivable capstan-driven actuator that reconfigures the leg geometry, using a tensioned steel cable, guide bearings, and worm-gear motor for smooth and stable motion.

• Used FEA and geometric modeling to refine link dimensions and ensure structural rigidity under high-force loading.

• Integrated mounting interfaces and limit constraints for repeatable testing across different linkage configurations.

System Integration & Control

• Implemented Python-based position control over CAN communication to coordinate leg actuation with simulated gait cycles.

• Tuned the motor control routines to achieve synchronized reconfiguration and walking motions on the bipedal prototype.

• Developed control scripts and data collection routines to record linkage motion and force response under varying conditions.

Testing & Validation

• Performed force and displacement tests to quantify mechanical advantage and output force across reconfiguration states.

• Compared experimental results with model predictions to verify consistency between simulation and hardware.

• Assembled and tested a bipedal proof-of-concept robot demonstrating real-time mode transitions between traversal and load-dragging behaviors.

Research Contributions

• Assisted in the analytical modeling and validation of morphing linkages and their workspace behavior.

• Contributed to the ICRA 2026 submission detailing the system’s design, testing procedures, and findings.

• Supported broader research objectives in developing task-adaptive legged robots capable of combining speed, power, and reconfigurability.