Research Projects

This project is an exploration of the capability of mechanical components for complex actuation and control. The trajectory of human foot is similar to the alphabet D, rotated anticlockwise 90 degrees. A similar coupler curve can be found in the Hoeken's linkage. An optimized mechanism (in terms of number of links and coupler curve) is designed as a functioning leg and six of them is connected to a rectangular frame with a tripod gait. A single rotating motion is connected to the links through chain drives to control all the legs in a particular gait. The vehicle can be steered using a mechanism that facilitates differential stride for opposing legs.

This project is an exploration of the capability of mechanical components for complex actuation and control. The trajectory of human foot is similar to the alphabet D, rotated anticlockwise 90 degrees. A similar coupler curve can be found in the Hoeken's linkage. An optimized mechanism (in terms of number of links and coupler curve) is designed as a functioning leg and six of them is connected to a rectangular frame with a tripod gait. A single rotating motion is connected to the links through chain drives to control all the legs in a particular gait. The vehicle can be steered using a mechanism that facilitates differential stride for opposing legs.

This project is an exploration of the capability of mechanical components for complex actuation and control. The trajectory of human foot is similar to the alphabet D, rotated anticlockwise 90 degrees. A similar coupler curve can be found in the Hoeken's linkage. An optimized mechanism (in terms of number of links and coupler curve) is designed as a functioning leg and six of them is connected to a rectangular frame with a tripod gait. A single rotating motion is connected to the links through chain drives to control all the legs in a particular gait. The vehicle can be steered using a mechanism that facilitates differential stride for opposing legs.

This project is an exploration of the capability of mechanical components for complex actuation and control. The trajectory of human foot is similar to the alphabet D, rotated anticlockwise 90 degrees. A similar coupler curve can be found in the Hoeken's linkage. An optimized mechanism (in terms of number of links and coupler curve) is designed as a functioning leg and six of them is connected to a rectangular frame with a tripod gait. A single rotating motion is connected to the links through chain drives to control all the legs in a particular gait. The vehicle can be steered using a mechanism that facilitates differential stride for opposing legs.

This project is an exploration of the capability of mechanical components for complex actuation and control. The trajectory of human foot is similar to the alphabet D, rotated anticlockwise 90 degrees. A similar coupler curve can be found in the Hoeken's linkage. An optimized mechanism (in terms of number of links and coupler curve) is designed as a functioning leg and six of them is connected to a rectangular frame with a tripod gait. A single rotating motion is connected to the links through chain drives to control all the legs in a particular gait. The vehicle can be steered using a mechanism that facilitates differential stride for opposing legs.

I pursued it as a side project from 2013-2016 with Prof. Dibakar Sen. A presentation on the project can be found here.