This paper presents the design and fabrication of micro-lens arrays (MLAs) by Two Photon Polymerization (TPP) technology. First, a computer program is developed to construct a solid MLA model with a specified focal length and lens diameter. A TPP laser scanning path for MLA fabrication is then generated. MLAs are fabricated by TPP, with quality assessed by SEM. Finally, good quality 5  5 MLA squares with dimensions 108  108 are successfully manufactured.

We report on the design and implementation of a simple bio-inspired hexapod driven by a single motor. Aiming for generating the dynamic locomotion of the robot, the design is based on the motion of a spring loaded inverted pendulum (SLIP) and then expanded to the hexapod morphology. The required speed variations and phase offsets of legs are achieved by utilization of non-circular gear pairs in the transmission system. Thus, the robot can be driven by a single DC motor without control effort. The designed alternating tripod gait allows the robot to adequately negotiate with rough terrain as well as to excite dynamic running behavior. The performance of the robot is evaluated experimentally and is quantitatively compared to the SLIP model.