A 25 MG magnetically actuated microrobot walking at &gt; 5 body lengths/sec

Vogtmann, Dana E.; Pierre, Ryan St.; Bergbreiter, Sarah

doi:10.1109/memsys.2017.7863370

Cited by 40 publications

(32 citation statements)

References 9 publications

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“…The performances of the prototype robots (red stars with body lengths from 30 to 10 mm) follow a scaling law similar to that of living animals: Higher relative running speed was attained as the body mass decreased, with the fastest measured running speed at 20 BL/s among reported insect-scale robots and actuators (blue). For data, see suggests that the relative speed increases as the body mass increases (19) except for recent robots driven by an external magnetic force (26)(27)(28). The robots presented in this work (five red stars with the body lengths from 30 to 10 mm; Fig.…”

Section: The Comparison Of Relative Moving Speedmentioning

confidence: 80%

“…However, these robots are made of rigid or partially rigid parts, resulting in poor robustness and low adaptability to shape changes and/or external perturbations. On the other hand, soft robots actuated by humidity (19)(20)(21), light (22)(23)(24), heat (25), and magnetic force (26)(27)(28) have been demonstrated but have slow responses, whereas others require bulky setups to generate the external power sources such as magnetic fields. Robots using thin film-based actuators based on lead zirconate titanate (PZT) have been successfully developed (17,18,(29)(30)(31), but PZT is a brittle material containing poisonous lead.…”

Section: Introductionmentioning

confidence: 99%

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Insect-scale fast moving and ultrarobust soft robot

et al. 2019

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Mobility and robustness are two important features for practical applications of robots. Soft robots made of polymeric materials have the potential to achieve both attributes simultaneously. Inspired by nature, this research presents soft robots based on a curved unimorph piezoelectric structure whose relative speed of 20 body lengths per second is the fastest measured among published artificial insect-scale robots. The soft robot uses several principles of animal locomotion, can carry loads, climb slopes, and has the sturdiness of cockroaches. After withstanding the weight of an adult footstep, which is about 1 million times heavier than that of the robot, the system survived and continued to move afterward. The relatively fast locomotion and robustness are attributed to the curved unimorph piezoelectric structure with large amplitude vibration, which advances beyond other methods. The design principle, driving mechanism, and operating characteristics can be further optimized and extended for improved performances, as well as used for other flexible devices.

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Section: The Comparison Of Relative Moving Speedmentioning

confidence: 80%

Section: Introductionmentioning

confidence: 99%

Insect-scale fast moving and ultrarobust soft robot

et al. 2019

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“…For example, SLIP dynamics in palm-sized, legged robots have been reported (e.g., DASH (Birkmeyer et al, 2009)) while others explain deviations from this model (e.g., Sprawlita (Bailey et al, 2001) and VelociRoACH (Haldane and Fearing, 2015)). At similar scales to mites, recent studies have demonstrated the versatility of offboard magnetic actuation to study the effect of gait on speed and body oscillations while traversing rough terrain with sub-2g robots (St Pierre and Bergbreiter, 2016;Vogtmann et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Gait studies for a quadrupedal microrobot reveal contrasting running templates in two frequency regimes

et al. 2017

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Performance metrics such as speed, cost of transport, and stability are the driving factors behind gait selection in legged locomotion. To help understand the effect of gait on the performance and dynamics of small-scale ambulation, we explore four quadrupedal gaits over a wide range of stride frequencies on a 1.43 g, biologically-inspired microrobot, the Harvard Ambulatory MicroRobot (HAMR). Despite its small size, HAMR can precisely control leg frequency, phasing, and trajectory, making it an exceptional platform for gait studies at scales relevant to insect locomotion. The natural frequencies of the body dynamics are used to identify frequency regimes where the choice of gait has varying influence on speed and cost of transport (CoT). To further quantify these effects, two new metrics, ineffective stance and stride correlation, are leveraged to capture effects of foot slippage and observed footfall patterns on locomotion performance. At stride frequencies near body resonant modes, gait is found to drastically alter speed and CoT. When running well above these stride frequencies we find a gait-agnostic shift towards energy characteristics that support 'kinematic running', which is defined as a gait with a Froude number greater than one with energy profiles more similar to walking than running. This kinematic running is rapid (8.5 body lengths per second), efficient (CoT = 9.4), different from widely observed SLIP templates of running, and has the potential to simplify design and control for insect-scale runners.

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“…Several microrobot systems ranging in scale from micrometers to centimeters have been demonstrated. [1][2][3][4][5][6][7][8][9][10][11][12] Among these microrobots, the micrometer-scale ones have potential applications in special environments such as surgery inside the narrow blood vessels of the human brain or microassembly for small mechanical systems. [4,8] However, adding power sources and controllers into microscale systems is difficult.…”

Section: Introductionmentioning

confidence: 99%

Study on Electrostatic Inchworm Motor Device for a Heterogeneous Integrated Microrobot System

Saito

Contreras

Takeshiro

et al. 2019

Transactions of The Japan Institute of Electronics Packaging

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Ideal microrobots are on the millimeter-scale with integrated actuators, power sources, sensors, and controllers. Numerous researchers are inspired by insects for the mechanical or electrical design of microrobots. Previously, the authors proposed and demonstrated microrobots that can replicate the tripod gait locomotion of an ant, the legs of which were actuated by shape memory alloy (SMA) actuators. The SMA provided a large deformation and force, but the power consumed by actuating a single leg reached as high as 94 mW. This paper discusses a silicon electrostatic inchworm motor chip to move a robot leg with low energy consumption using a small power source. The inchworm motor chip was actuated by electrostatic motors. The power consumption was as low as 1.0 mW, in contrast with SMA actuators. The reciprocal motion of the inchworm motor chip is powered by silicon photovoltaic cells. The results show that the 7.5 mm 2 photovoltaic cells could produce 60 V to actuate the inchworm motor chip, and the generated force is enough to move the leg of the microrobot. Thus, we demonstrated the actuation of a microrobot leg using an electrostatic inchworm motor chip, which is the first reported instance of an electrostatic motor driving an off-chip structure.

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A 25 MG magnetically actuated microrobot walking at > 5 body lengths/sec

Cited by 40 publications

References 9 publications

Insect-scale fast moving and ultrarobust soft robot

Insect-scale fast moving and ultrarobust soft robot

Gait studies for a quadrupedal microrobot reveal contrasting running templates in two frequency regimes

Study on Electrostatic Inchworm Motor Device for a Heterogeneous Integrated Microrobot System

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