Underactuated Rotor for Simple Micro Air Vehicles

We extract thrust, roll, and pitch authority from a single propeller and single motor through an underactuated mechanism embedded in the rotor itself. This allows new types of conventionally-capable micro air vehicles now requiring only two motors. This contrasts with the servos and linkages of conventional helicopters or the four drive motors in quadrotors.

Low-cost Laser Range Finder

The goal for this project is to make a low-cost but high-speed , very small and reliable laser range finder. The idea is to talk to a small camera, and obtain the laser line position and send out the data line by line in real-time.


Smooth motion is critical to robotic applications like haptics or those requiring high precision force control. These systems are often direct-drive, so any torque ripple in the motor output must be minimal. Unfortunately, low inherent torque ripple motors are expensive. We came up with a method to map and suppress torque ripple from cogging torque so low cost motors can perform as well as expensive ones, while using only a position sensor, which is already required for servo control. We call this compensation “Anticogging”.