Tutorials

Two tutorials will provide hands-on experiance on soft-bodied locomotion and pHRI in the context of haptics. Students will be grouped into two i.e. Group 1 and Group 2, and take turns to attend the two tutorials on Tuesday afternoon and Wednesday morning. Within each group, students are expected to form smaller teams of up to three people for practice. Further detail about which group you are in will be available upon arrival.

Soft bodied locomotion tutorial

Room ML H 43

given by Xiaoxiang Yu et al., BIRLab

Abstrast

This tutorial aims at understanding the design of soft bodied robots for locomotion. The style of the tutorial is open and no previous knowledges on building robots are required. After a brief introduction, you will make various soft bodied robots by your own hand. With a type of non-rigid material (hot glue) and necessary tools, you have the freedom to design and build your favorite products. In the end, the performance of robots will be evaluated by an interesting in-class competition with the prize of a Swiss army knife.

Haptic Paddle tutorial

Room HG G 1

given by Dr. Olivier Lambercy et al., ReLab

Abstract

Haptic Paddles have been used with great success in lectures at several universities throughout the US to teach the basic concepts of physical human-robot  interaction (pHRI). The ETHZ Haptic Paddle is based on the open hardware haptic paddle developed at Rice University and has additional features such as a force sensor integrated into the end-effector. It is equipped with a low-cost USB data acquisition card and a custom made current amplifier. This setup is used in a lecture on pHRI offered at ETH Zurich (http://www.relab.ethz.ch/education/pHRI) and will serve as hardware platform for the the tutorial session on pHRI at the ETH Summer School on Soft Robotics

After a 45 min introduction tutorial on LabView, you will familiarize with the components of the ETHZ Haptic Paddle. You will determine the transfer function of the integrated hall effect sensor to measure the position of the Haptic Paddle, derive and filter the velocity signal, and evaluate the stability limits of a rendered virtual wall through a K-B (stiffness/damping) plot.