K²T robot walking across Lab Floor

The above images are from the first prototype of the K²T (K squared T) mine removal robot. The robot is being designed in Pittsburgh by K²T, Inc. under funding from the Office of Naval Research. The goal of the project is to produce an adept walking robot that can be used in large numbers to clear mine fields and shallow underwater mines. The robot must have robust control and mechanical design such that it can operate autonomously in unknown environments.

The Bio-Robotics lab at CWRU is working with K²T to design the navigation controller for the robot. Gabriel Nelson has created an accurate dynamical simulation of the robot including 17 degrees of freedom, joint locking and clutching, terrain modeling, and a graphical output shown below. Also shown is a rendered version of the design.

The controller uses biological concepts from our second robot that have been adapted to the unique design and kinematics of the K²T robot. The robot uses a reduced actuator set (5 motors for 17 degrees of freedom) which allows for large energy savings that are necessary for long term autonomous use. Our controller also makes uses of several energy saving strategies such as efficient joint locking and momentum transfer.

The K²T robot is a finalist for Discover Magazine's 9th Annual Technology Awards. There will be an article on the robot in the Special Epcot Edition that will be published in July.