This file contains the final reflection, abstract (as printed in the conference program), and conference poster associated with Anusha Datar's SAG award to present her work with Professor Samantha Michalka at the APA's Technology, Mind, and Society conference. Their poster explored the technical and practical feasibility and implications of augmented reality brain-computer interfaces.

Walking robots have advantages over their wheeled counterparts in their ability to climb and negotiate rough terrain. This property makes such robots well-suited to exploration of rocky environments such as the surface of Mars or an asteroid. Last semester, this research project began with the goal of developing a folding autonomous hexapod rover for exploring rocky environments. While last semester was devoted to building up a basic platform, this semester we focused on adding more advanced capabilities such as rough terrain traversal, obstacle detection, and custom electronics.

Whole Skin Locomotion (WSL) is a project that hopes to further the research of an interesting problem’s solution. The problem is, how to make a robot that is well suited for traversing tight spaces such as collapsed buildings or humane gastrointestinal tracts. By nature a wheel or tank tread rotates with the top and the bottom effectively going different directions. This can create dangerous and unstable conditions in confined spaces. Additionally wheels and tank treads can only use half of its available surface for forward motion. These are significant problems, and rich area for research. This semester I continued the WSL research project that had been started last semester. The base of this project was inspired by the movement of an amoeba, whose locomotion heavily depends pseudopods and cytoplasmic streaming. The endoplasm flows through the amoeba causing growth forward and away from the cell body. We aim to mimic this affect by creating the WSL robot’s forward motion from an inverting torus. As the torus inverts the entire exterior facing membrane moves in the same direction and returns though the center. This is contrary to a wheel or tank tread as we discussed earlier. WSL allows the robot to move in as long as the robot is in contact with the surface.

To support the design of a mechanism with two opposing, underactuated, multi-segmented feet that enables a small UAV to grasp and perch upon a branch or similar structure, a hybrid empirical-computational model has been developed that can be used to predict whether the mechanism can kinematically grasp structures with a range of cross-section shapes and sizes in various orientations and to quantify the forces exerted by the grasp. This research was presented at the ASME 2018 International Mechanical Engineering Congress & Exposition (IMECE) with funding from a SAG award.

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