art & engineering

 Trinity: Behavioral Robotics Research Platform

Trinity is a three-wheel, omnidirectional robot equipped with panoramic visual, laser and acoustic sensors. Built in 2006 as a demonstration system for a new type of embedded computing system, Trinity served as a research platform for studying a type of robotic theory known as behavioral control.
 
My role was to develop the mechanical design, which is derived from sacred geometries and the golden ratio. The most validating moment of Trinity's esthetic was when a toddler seeing the robot eye-to-eye for the first time, came up and gave her a hug.
 
Trinity's skin was designed for ease of removal to allow for servicing and mounting of sensors. The mechanical structure was built completely from waterjet-cut aluminum plates and printed plastic parts held together with standard fasteners. Trinity served for several years as a research system, a show-and-tell item, and, on one occasion, as a flower girl in a wedding, before being retired around 2008.

Trinity cruzing the halls

Photo Credit: NASA article A family Affair

CAD model of Trinity Design

Frame and rolling chassis

Drving with sensors active

Funny photo op.

the walls between art and engineering exist only in our minds