Proposal for Thesis Research in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy

We propose a new generic modeling framework, with validating hardware experiments, for hyper-modular mechanisms and robots (tens to thousands of modules) which may exhibit extreme redundancy and parallelism. Our framework efficiently captures the second-order effects of dimensional tolerance and uncertain mechanical play and flexibility, and helps enable efficient actuator cooperation for force and torque (power) aggregation.