Variable Gear-Ratio Robotic Arm

Part of my work at MIT in d’Arbeloff Laboratory, I developed a 3-DoF robotic arm using custom actuators with variable gear-ratios. The aim is to develop a lightweight & high-payload architecture for mobile and portable robots. A journal paper on this topic is available at this link: Leveraging Natural Load Dynamics with Variable Gear-ratio Actuators. The software used for controlling this arm is available here:

My work consisted in:

  • Mechanical design of actuators, lightweight robot structure and mechanisms;
  • Design and implementation of novel control and planning algorithms;
  • Development of the control software using ROS, C++ and Python (5,000+ lines of code);
  • Laboratory assembly, manufacturing and experiments.

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