Myriapod-like ambulation of a segmented microrobot
Segmented myriapod-like bodies may offer performance benefits over more common fixed body morphologies for ambulation. Here, the design of a segmented ambulatory microrobot with a flexible backbone is presented. A dynamic model describing the motion of the microrobot is used to determine body parame...
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| Veröffentlicht in: | Autonomous robots 2011-07, Vol.31 (1), p.103-114 |
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| container_title | Autonomous robots |
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| creator | Hoffman, Katie L. Wood, Robert J. |
| description | Segmented myriapod-like bodies may offer performance benefits over more common fixed body morphologies for ambulation. Here, the design of a segmented ambulatory microrobot with a flexible backbone is presented. A dynamic model describing the motion of the microrobot is used to determine body parameters. A three-segment microrobot was fabricated using the Smart Composite Microstructures process and piezoelectric bimorph actuators, and forward locomotion on a flat surface was demonstrated. The footprint of the 750 mg microrobot is 3.5 by 3.5 cm, and it has potential advantages over rigid body hexapedal microrobots in climbing, versatility, and stability. |
| doi_str_mv | 10.1007/s10514-011-9233-4 |
| format | Article |
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| ispartof | Autonomous robots, 2011-07, Vol.31 (1), p.103-114 |
| issn | 0929-5593 1573-7527 |
| language | eng |
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| source | SpringerLink Journals |
| subjects | Actuators Artificial Intelligence Bimorphs Computer Imaging Control Dynamic models Engineering Flat surfaces Footprints Locomotion Mathematical models Mechatronics Microrobots Morphology Pattern Recognition and Graphics Piezoelectricity Rigid structures Rigid-body dynamics Robotics Robotics and Automation Robots Vision |
| title | Myriapod-like ambulation of a segmented microrobot |
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