Project SPLITTER hero

2023–

Project SPLITTER

Research focus

  • CQDD actuator
  • MAGPIE gripper
  • Planetary exploration

Project story

Images and demonstrations

12 media items

01 / Actuation

Cycloidal quasi-direct-drive architecture in detail.

CQDD exploded view
01CQDD exploded view
CQDD in motion 01

CQDD in motion

Documentation
02

CQDD actuator video

Film
01 / 02

02 / The MAGPIE gripper

Multi-modal grasping and contact sensing.

MAGPIE gripper
04MAGPIE gripper
MOBIUS hand-foot example 01

MOBIUS hand-foot example

Documentation
02

MAGPIE grasping

Motion study
03

Magnetic interference detection

Motion study
01 / 03

03 / Sensing system

Force sensing, materials, and simulation.

3D Hall-effect force sensor
083D Hall-effect force sensor
Eight-axis sensor layout 01

Eight-axis sensor layout

Documentation
Material sensitivity and force ranges 02

Material sensitivity and force ranges

Documentation
Sensor mechanism design 03

Sensor mechanism design

Documentation
MAGPIE simulation 04

MAGPIE simulation

Documentation
01 / 04

Publications & related research

CQDD actuator (ICRA 2025) →MAGPIE force sensing (ICRA 2025) →Inertial morphing MPC (AeroConf 2025) →MAGPIE simulator →