Why a multi-modal foot-gripper

In MOBIUS, the hands work as feet during quadrupedal locomotion — but flat feet suit static stance, linear feet suit dynamic locomotion, and hands still need to grasp objects.

• Flat feet are ideal for static cases
• Linear feet are ideal for dynamic locomotion
• Hands need to grasp objects
• → Need for a multi-modal foot-gripper: MAGPIE

Sensor design framework

Our computational design framework lets us design the force range and sensitivity of the 3D Hall-effect-based force sensing.

By changing the magnet sizing, positioning, and beam parameters, we can design the desired force-sensing characteristics. Our framework generates an ideal model.

MAGPIE simulator

An open simulation environment for the MAGPIE end effector, with computational framework code and API documentation.

• Computational framework codes and APIs documentation
• Accounts for magnetic interference
• A stacked Gated Recurrent Unit (GRU) based mean-variance estimator
• Ideal model with Gaussian radial basis functions (GRBF)