Robotics Research                          [Back]

　

I have been focusing on design and control of robotic systems since I was a senior student in Tsinghua University. My past research have accessed many different aspects of robotics, such as mechanical modeling, simulation, mechatronics, and control theories.

Now

@ ASU
I'm working on design and control of a robotic hand.

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Past

@ SUNY Buffalo
After I learned more skills in master program, I started to design more complicated autonomous systems. I built two systems that were powered by RC servos, the Jellyfish and the Hexapod. The Jellyfish is a 6-DoF parallel platform. It could either be controlled by a human operator through a force feedback joystick or programmed to move in the workspace autonomously. The Hexapod is a six legged locomotion system which used 18 servos. Each leg has 3 DoFs and the robot is capable of moving with different gaits.

I also tested control algorithms for complex robot system in virtual environment. For example, 2D bipedal walking can be modeled as stick diagrams and simulated in MATLAB. I then designed adaptive controller to enable it walking on slopes with unknown mass properties. Another example was a multi-robot simulation environment (MuRoSim) coded in C.

My master thesis was about leg-wheel hybrid locomotion. The robot I built was named as ROAMeR (Reconfigurable Omnidirectional Articulated Mobile Robot) which is capable of changing wheel placement with respect to the chassis while moving around according to the task.

@ Tsinghua
The first robot I built was a joystick controlled block mover which was used to participate ROBOCON competition. It was basically a simple differential driven mobile robot with a big gripper that can move up and down.

　

　
Publications

Fu Q, and Krovi VN. Articulated Wheeled Robots: Exploiting Reconfigurabiity and Redundancy, Proceedings of the ASME Dynamic Systems and Control Conference, Ann Arbor MI, Oct 20-22, 2008.

　

Master Thesis

Fu Q, Kinematics of articulated wheeled robots: Exploiting Reconfigurabiity and Redundancy. Master thesis for Mechanical Engineering at SUNY Buffalo, 2008. [pdf]

　

Under Construction