Many animals exploit structural vibration as a means of communication or to sense their surroundings, so why not robots? For this project I developed a vibration transducing mobile robot platform; the idea is that multiple robots on a common substrate can communicate and percieve information about the environment purely using vibration. Due to the dispersive nature of structural bending waves (unlike speech, wavespeed is a function of frequency!) new methods for conveying information were developed. This work was done in fulfillment of my master's degree.

The Tiny Terrestrial Robotics Platform (TinyTeRP) is a miniature mobile robotics platform designed to fascillitate distributed control and sensing research. Stackable sensor boards(e.g. an IMU) interface with the main control board for modular configurability. This project is entirely open source and files for all sub-systems are available here. I worked on this project along with a small team of fellow undergraduates.

Sometimes I like to build robots purely for enjoyment and in the absence of constraints. When a part was needed at any point in the design process the solution was always 'I can make that myself.' The result is the world's most elaborately constructed - and fun - desk toy. The robot is entirely bespoke, from the water jet cut frame, to the custom PCB's. It is controlled by a Python program which sends commands over serial via a ZigBee radio connection, which is fielded on the robot my an Arduino. The name TOBL comes from the resemblance to a bar of Toblerone chocolate. This is version two. The original (iPhone-controlled edition) can be found here. Further documentation of these and other 'just for fun' projects can be found on my blog.