Final Project
My initial idea for the final project is an RTK-guided ground robot equipped with a camera and an open architecture for modular sensor packages, based on a prototype I developed during the latter half of my master's degree. This prototype employs transforming fin-ray wheel-legs instead of traditional wheels to traverse obstacles more effectively. It supports a wheel-leg mode for climbing rigid obstacles and a compliant mode in which the fin-ray appendages contact the ground for superior terrain traversal. Additionally, it includes a XIAO GNSS module for positioning and a camera for enhanced situational awareness.
The research group I am currently part of focuses on developing Triboelectric Nanogenerators as self-powered sensors for environmental monitoring and precision agriculture. Thus, I aim to provide a robotic platform that serves as a testbed for these sensors in real-world outdoor navigation and data collection scenarios.
For this project, what do I plan to do?
- Redesign the robot's structure to enclose and protect the electronics from environmental factors like dust and humidity.
- Incorporate RTK GNSS navigation for precise positioning, with the robot acting as a "rover" receiving fixes from a "base" station. This will enable autonomous navigation to specific locations on a map.
- Rework the wheel-leg transformation mechanism to reduce weight and cabling. Currently, each wheel features a linear worm drive actuator for mode toggling and a pair of limit switches for position feedback.
- Redesign the electronics boards to enable easy integration of additional sensor packages, similar to Arduino Shield Boards.
- Integrate long-range communication equipment to extend the data exchange range.