The JayWalker Testbed is a three legged, two-dimensional biped walking robot. It is used to study rough and unstructured terrain locomotion. The two-dimensional walking is achieved by coupling the two outside legs together, so when looking from a side view the robot appears to have only two legs.
The Kraft Scout mobile robot was donated by Kraft Robotics in Kansas City. Its intended purpose is to go into sewers and search for gas leaks. It is equipped with a laser temperature senor, a gas analyzer, a drive camera and a telescoping view camera on top. The Scout is radio controlled, but ISAL is interested in it as a testbed for autonomous control.
The IBM pick and place robot is a hybrid electric, pneumatic manufacturing robot. The rotating joints are powered using electric motors and the prismatic joint is powered using a linear pneumatic actuator.
The Microbot is a table top six axis robot manipulator arm. This arm is ideal for developing new position and force control strategies.
The Actuator Testbed is a used to test the performance of electric motors, pneumatic actuators or custom built actuators developed in the lab. The testbed is a simple level arm that lifts a known amount of weight. Time, position and pressure data are recorded using the NI-6210 data acquisition system and LabView.
Microprocessors are the cornerstone of mechatronic development in the ISAL. The lab primarily uses the basic stamp, SX and propeller microprocessors from Parallax.
The NI-USB-6210 is a portable data acquisition system that connects to any pc using the USB port and LabView software. This allows any PC in the ISAL to be a data acquisition computer. The USB-6210 is capable of reading two quadrature encoder as well numerous analog sensors like pressure transducers. It is used most commonly with the the Actuator Testbed.
