DynaMechs Projects:

Aquarobot: an underwater walking robot developed and built by the Port and Harbour Research Institute (PHRI) in Yokosuka, Japan. A joint project with Naval Postgraduate School (NPS) from 1992 to 1994 to develop a better control system. I developed a real-time graphical simulation of this robot using DynaMechs for the dynamic and hydrodynamic computations to provide a simulation testbed (and virtual environment) for control system development environment off-site.

Tiburon: An underwater remotely-operated vehicle (ROV) developed at the Monterey Bay Aquarium Research Institute (MBARI). Shown here with 6 DOF Schilling manipulator, this simulation was developed during a summer internship in 1993.

Third Ventriculostomy: developed at HT Medical in 1996, a flexible endoscope is tracked using a special-purpose input device, which drives the simulation of the flexible scope as it navigates through a through a 3D model of lateral and third ventricles (cavities) of the brain. Collision detection using a multiprocessing version of intersection testing helps add realism to the interaction.

The mesh: A demostration of the the closed-chain algorithm developed by Duane Marhefka at The Ohio State University (1999) [AVI] for their NSF galloping quadruped project.  The number loops in the mechanism goes up with the square of n, where n is the number of links on one side of the mesh.  Meshes of size n=7 were simulated to show the stability of the algorithm in implementing the loop constraints.

Leg Simulation Testbed: This effort at The Ohio State University uses DynaMechs to simulate prototype legs for their galloping quadruped project (2000) [AVI].  The leg is equipped with an extension spring for energy storage and reduction of impact forces.  The mechanical and control designs of the actual leg have benefited from the force data obtained through this simulation testbed.

The Ohio State Quadruped: one of the prototype quadruped models developed by Duane Marhefka for Ohio State's most recent project to build an actual galloping quadruped (2000) [AVI].  This project is sponsored by the National Science Foundation and is under the supervision of Profs. Kenneth Waldron and David Orin.  This model was useful in investigating 3D control of the quadruped.

Genetic Programming System: The Sigel Project in the "Chair for System Analysis" at the University of Dortmund (Germany) used DynaMechs to simulate the dynamics of virtual robots in a system that used genetic algorithms to evolve control systems that would result in walking behaviours (2001).

Last modified 19 September 2001 by Scott McMillan