As part of my research at MIT, I developed a hybrid actuator; in one mode the actuator is strong and precise for manufacturing operations and in the other mode the actuator is fast and capable of high-fidelity force control for locomotion in unknown environments. A conference paper on the topic is available here: A Two-Speed Actuator for Robotics with Fast Seamless Gear Shifting.
My work consisted in:
- Design and manufacturing of a custom 3-ports differential gearbox;
- Development of control algorithms for fast and seamless mode transitions in dynamic scenarios;
- Implementation of the low-level controller on a FPGA and the high-level controller on a real time OS.