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Integration of efficient electrostatic motors into robotic applications
This project focuses on developing a robotic demo using an electrostatic motor with artificial muscles, showcasing its unlimited rotation, compliance, and energy efficiency at low rpm, through applications like crawlers, arms, or grippers, all designed within the motor’s torque and power limits for untethered operation.
Electrostatic actuators have the potential to be a far more efficient alternative to conventional motors based on the electromagnetic principle, as they can sustain torque output without consuming energy, while still being compliant and backdrivable. Using an existing prototype for an electrostatic motor using artificial muscles with a torque amplifying mechanism, you will develop a robotic demo which showcases its strengths- unlimited rotation, compliance (backdrivability), and efficiency at low rpm. Crawlers / walkers, arms, and grippers are some possible applications. You must design the mechanism within the torque and power constraints of the motor. It will in the end be integrated with our miniature power supply for an untethered demo.
**References**:
1. Coros, Stelian, Bernhard Thomaszewski, Gioacchino Noris, Shinjiro Sueda, Moira Forberg, Robert W. Sumner, Wojciech Matusik, and Bernd Bickel. 2013. “Computational Design of Mechanical Characters.” ACM Transactions on Graphics, 83, 32 (4): 1–12.
**Requirements**:
- Willingness to prototype quickly and iterate through many versions
- Strong motivation, problem-solving skills, and ability to work independently
- Proficiency in CAD / simulation software to create and validate designs
Electrostatic actuators have the potential to be a far more efficient alternative to conventional motors based on the electromagnetic principle, as they can sustain torque output without consuming energy, while still being compliant and backdrivable. Using an existing prototype for an electrostatic motor using artificial muscles with a torque amplifying mechanism, you will develop a robotic demo which showcases its strengths- unlimited rotation, compliance (backdrivability), and efficiency at low rpm. Crawlers / walkers, arms, and grippers are some possible applications. You must design the mechanism within the torque and power constraints of the motor. It will in the end be integrated with our miniature power supply for an untethered demo.
**References**:
1. Coros, Stelian, Bernhard Thomaszewski, Gioacchino Noris, Shinjiro Sueda, Moira Forberg, Robert W. Sumner, Wojciech Matusik, and Bernd Bickel. 2013. “Computational Design of Mechanical Characters.” ACM Transactions on Graphics, 83, 32 (4): 1–12.
**Requirements**:
- Willingness to prototype quickly and iterate through many versions
- Strong motivation, problem-solving skills, and ability to work independently
- Proficiency in CAD / simulation software to create and validate designs
**Work Packages**:
1. Review literature on electrostatic actuation and rotational mechanisms
2. Replicate the electrostatic motor yourself based on our existing design
3. Review the output characteristics of the motor
4. Propose applications that can work within the constraints of the motor
5. Implement a working prototype, and integrate it with our miniature HV power supply
**Work Packages**:
1. Review literature on electrostatic actuation and rotational mechanisms
2. Replicate the electrostatic motor yourself based on our existing design
3. Review the output characteristics of the motor
4. Propose applications that can work within the constraints of the motor
5. Implement a working prototype, and integrate it with our miniature HV power supply
To apply, please send Yasunori a short motivation statement for this project, with a copy of your CV, transcripts, and two reference contacts if you have worked on any past projects. Also feel free to contact me for any questions!
Yasunori Toshimitsu, PhD Candidate, ytoshimitsu@ethz.ch, Soft Robotics Lab, Institute of Robotics and Intelligent Systems, D-MAVT, ETH Zurich
Amirhossein Kazemipour, PhD Candidate, akazemi@ethz.ch, Soft Robotics Lab, D-MAVT, ETH Zurich
Prof. Robert Katzschmann, Assistant Professor of Robotics, rkk@ethz.ch, Soft Robotics Lab, Institute of Robotics and Intelligent Systems, D-MAVT, ETH Zurich
To apply, please send Yasunori a short motivation statement for this project, with a copy of your CV, transcripts, and two reference contacts if you have worked on any past projects. Also feel free to contact me for any questions!
Yasunori Toshimitsu, PhD Candidate, ytoshimitsu@ethz.ch, Soft Robotics Lab, Institute of Robotics and Intelligent Systems, D-MAVT, ETH Zurich
Prof. Robert Katzschmann, Assistant Professor of Robotics, rkk@ethz.ch, Soft Robotics Lab, Institute of Robotics and Intelligent Systems, D-MAVT, ETH Zurich
