王力宇
LIYU WANG
PhD PE

Problem: A lack of a technology for automatic regeneration and repair of damaged mechanical structures in machines. Results; Execution of all the processes for automatic and cooperative leg regeneration, including robot engagement, positioning, leg detachment, leg fabrication, leg attachment, and robot disengagement. Video filmed and created by Liyu Wang. Copyright 2018. Video submitted to IEEE ICRA 2019. Work funded by Swiss National Science Foundation.

Video filmed and created by Liyu Wang and Luzius Brodbeck. Copyright 2013. Work funded by Swiss National Science Foundation. Related paper: http://dx.doi.org/10.1098/rsif.2014.0827

Problem: A lack of understanding of mass and heat flow in anti-gravity thermoplastic structure formation. Results: Modelling of mass and heat flow in discrete and continuous manners and demonstration of on-the-fly formation of various draglines in a spider-inspired mobile robot. Video filmed and created by Liyu Wang and Utku Culha. Copyright 2013. Video partially published by IOP Publishing Work funded by Swiss National Science Foundation. Related paper: https://doi.org/10.1088/1748-3182/9/1/016006

The OpenRoACH is a 15-cm long and 200-gram hexapod robot. It is the smallest legged robot running the Robot Operating System (ROS) onboard. With two Pololu metal gear DC motors and a Beagle Bone Blue board, OpenRoACH is underactuated, affordable, fully open-source. Fabrication is straightforward with bench-top fast-prototyping machines such as a laser cutter and a 3D printer. Assembly can be done manually with hot glue, super glue and screws by one person in two hours. Key features include: dynamical walking and running capabilities on multiple surfaces and terrain multi-model sensory capacity with cameras, colour tracking sensors, linescan sensors, gyroscopes, accelerometers, and Beacon sensors. onboard ROS, optional mbed microcontroller https://wiki.eecs.berkeley.edu/biomimetics/Main/OpenRoACH Video filmed and created by Liyu Wang, Yuxiang Yang and Gustavo Correa. Copyright 2018. Video submitted to IEEE ICRA 2019. Work funded by Swiss National Science Foundation.

Problem: Robotic climbing technologies are not capable of complex vertical environments beyond flat surfaces or ferromagnetic surfaces, and usually low specific payload capacity (payload divided by own body mass). Results: Climbing technologies based on hot-melt adhesive bonds working on metal and wood surfaces, stony and step environments with a maximum of 500% specific payload capacity. Video filmed and created by Liyu Wang, Lina Graber, Remo Bernet and Fabiant. Copyright 2013. Video published by IEEE. Work funded by Swiss National Science Foundation. Related paper: https://doi.org/10.1109/TRO.2013.2256312

Problem: Lack of method for folding-based fabrication from 1-dimension to 3-dimension. Results: Demonstration of folding from 1.5-dimensional pre-engineered ribbons to planar kinematic linkages and 3-dimensional structures with a maximum of seven folds done automatically in an open-loop manner. Video filmed and created by Liyu Wang. Copyright 2015. Video published by IEEE. Work funded by Swiss National Science Foundation. Related paper: Video filmed and created by Liyu Wang, Lina Graber, Remo and Fabian. Copyright 2013. Video published by IEEE. Work funded by Swiss National Science Foundation. Related paper: https://doi.org/10.1109/ICRA.2016.7487550

Problem: Automatic connection and disconnection mechanisms such as suction cups, vortice, grippers, hooks, pin-holes, electrostatics, magnets all require predefined surface features. Results: Demonstration of flexible connection and disconnection based on hot-melt adhesive which worked with metal and wood blocks and potentially more raw and natural objects. A feedback control method based on temperature feedback for pick-and-place of these objects. Video filmed and created by Liyu Wang. Copyright 2012. Work funded by Swiss National Science Foundation. Related paper: https://doi.org/10.1109/TMECH.2012.2202558