Small robots have always played a crucial role in exploring and inspecting confined spaces that larger robots cannot access. Their ability to navigate around obstacles and carefully maneuver in tight spaces makes them invaluable in scenarios such as inspecting machinery or navigating through disaster-stricken areas. However, the challenge lies in building small robots that are capable of steering themselves and carrying their own power sources. In a remarkable breakthrough, a team of researchers led by Aaron Johnson and Sarah Bergbreiter, both renowned professors of mechanical engineering, has developed “Mugatu,” the world’s first self-contained and self-starting steerable bipedal robot powered by just a single motor.
Mugatu’s design represents a significant leap forward in the field of robotics. By utilizing two rigid bodies and one actuator, the team has achieved a walker design that is not only simple but also capable of executing complex motions. James Kyle, a recent graduate in mechanical engineering and the first author of the project, explains, “The first direction of the project was aimed at simplifying the way robots walk as much as possible. Once we understand how scaling affects locomotion, it can be extremely useful for taking something that already exists and scaling it up or down to do things like fit through smaller pipes or carry more load.”
The team’s advancements in the robotics field would not have been possible without the contributions of each team member. Kendall Hart, an undergraduate mechanical engineering student, played a crucial role in developing the robot’s current sensor, which allowed the team to calculate the total cost of transport. Hart explains, “Before I came into the lab, I had a vague understanding of MATLAB, but working on this project allowed me to apply what I learned in class. When we were working on implementing the current sensor, there was a lot of debugging there, but now it’s made me more confident in debugging without my mentors.”
Nicknamed “The LEGO Project,” the team aspires to further refine their design and eventually shrink these walkers to the size of a LEGO. However, they acknowledge that downsizing presents numerous mechanical challenges that must be overcome. “It’s going to take a while because the mechanics of everything changes as you start down-sizing,” Hart admits. Nevertheless, the groundbreaking nature of the project and its potential impact on the robotics community cannot be denied.
The development of Mugatu marks a milestone achievement in the world of small robots. By revolutionizing the design and function of bipedal robots, the team has opened up new possibilities for efficient and versatile robotic explorations in confined spaces. With its simplistic yet highly effective design, Mugatu represents a promising step towards the creation of highly efficient small robots. The collaborative efforts of James Kyle, Justin Y. Kim, Kendall Hart, Sarah Bergbreiter, and Aaron Johnson have propelled the field of robotics forward and inspire future innovations in the field.
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