Humanoid/Bipedal Robots

3D Bipedal Robot (NUSBIP)

NUSBIP is a lif-sized humanoid robot with 20 degrees-of-freedom (DOFs) in total. It has 6 DOF on each leg and 5 DOF on each arm. It was modelled after the size of a 10-year old child. This robot is built to serve as a test bed for research on bipedal walking.

Humanoid Robots for Soccer Playing

A small sized humanoid robot with 18 degrees-of-freedom is designed and fabricated. The main task of this robot is to recognize, approach and hit the ball in to the goal. The aim of this project is to participate and compete with other humanoids in 2004 RoboCup and FIRA Robot Soccer competitions.

Update: Our robot is just back from the RoboCup 2004, Portugal. Click here for the details.

2D Bipedal Robot

This is a small planar bipedal robot. This robot will have 3 DOFs (hip, knee, ankle) at each leg. The motion of the robot will be constrained in the sagittal plane. This robot will eventually be a test-bed to evaluate various bipedal walking algorithms.

Passive Walker

Passive walking studies aims to analyze a walking system that only make use of its natural dynamic mode. The system does not require energy input and active control and is able to walk down a small slope with much stability.

Biomimetic Actuators

Series Elastic Actuators

These actuators are force control actuators, having an physical component between the actuator and the output. This is thought to be a better realisation of biological systems than conventional actuators.

Artificial Muscles

The purpose of this project is to implement position control on the McKibben Muscle using a simple feedback control. Apart from this, we also hope to be able to understand the actuator to a greater extent by examining the properties and characteristics of the muscle.

General Legged Locomotion

Small Hexapod Robot

This project is based on a small, simple, and inexpensive hexapod robot called Stiquito, powered by muscle wires made from a Nickel-Titanium alloy (a shape memory alloy). This project will study various control architectures to generate the walking gait of the robot. This is implemented in the form of a Central Pattern Generator (CPG). Genetic algorithm is then used to search for the optimised gait pattern based on some predetermined performance function.

Self-Stabilising Legged Systems

The purpose of this project is to reconstruct and analysis a self-stabilizing monopod hopping system as proposed by Robert P. Ringrose (1996). This system has no active electronic sensors to use for feedback in its stability control. Instead, there is an inherent dynamic stability during its movement that prevents the system from toppling over.

Quadruped Walking Robot

This quadruped robot is being used to study the gaits and control of four-legged walking. It performs static walking.

Hexapod Walking Robot

Biomechanics

Prosthesis Development

This area of project aims to develop artificial limbs (prosthesis) that can be used to help the disabled walk normally.

Simulation

Simulation Software Development

To develop a simulation software that can be used to model the dynamics of ulti-body systems, and in particular, walking systems.

Simulation Study of Multi-Body Systems

To simulate the behaviours of multi-body/walking systems - be it 2-legged, 4-legged or others - under various walking speeds and ground conditions.