A micro hexapod robot for swarm applications assembled from a single FPC sheet

Asamura, Kazuto; Nagasawa, Shuichi

doi:10.35848/1347-4065/abe689

Cited by 10 publications

(3 citation statements)

References 36 publications

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“…In a previous study, the fabrication of a hexapod assembled from a single flat Flexible Printed Circuit (FPC) sheet was proposed. Since complicated assembly processes are not required, a hexapod can be assembled at a low cost [29]. In our previous study, the rigid parts of the body frame were realized by folding an FPC sheet and creating a truss structure, as shown in Fig.…”

Section: Introductionmentioning

confidence: 99%

Micro-hexapod robot with an origami-like SU-8-coated rigid frame

Sugimoto,

Nagasawa

2024

Robotica

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In recent years, many microrobots have been developed for search applications using swarms in places where humans cannot enter, such as disaster sites. Hexapod robots are suitable for moving over uneven terrain. In order to use micro-hexapod robots for swarm exploration, it is necessary to reduce the robot’s size while maintaining its rigidity. Herein, we propose a micro-hexapod with an SU-8 rigid frame that can be assembled from a single sheet. By applying the SU-8 coating as a structure to the hexapod and increasing the rigidity, the substrate size can be reduced to within 40 mm × 40 mm and the total length when assembled to approximately 30 mm. This enables the integration of the micro electromechanical systems (MEMS) process into small and inexpensive hexapod robots. In this study, we assembled the hexapod with a rigid frame from a sheet created using the MEMS process and evaluated the leg motion.

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Section: Introductionmentioning

confidence: 99%

Micro-hexapod robot with an origami-like SU-8-coated rigid frame

Sugimoto,

Nagasawa

2024

Robotica

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“…Among these, multi-legged robots, known for their superior mobility [6], have been proposed for exploration due to their ability to navigate rough terrains effectively. The micro-hexapod [7][8][9][10][11][12][13][14] is a robot that combines elements of micro-robots [15][16][17][18][19] and hexapod robots [20][21][22][23], the latter being robots with six legs. Micro-robots are particularly appealing for their suitability in confined spaces, cost-effectiveness, and potential for mass production.…”

Section: Introductionmentioning

confidence: 99%

The Influence of Micro-Hexapod Walking-Induced Pose Changes on LiDAR-SLAM Mapping Performance

Seki,

Yamamoto,

Nagasawa

2024

Sensors

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Micro-hexapods, well-suited for navigating tight or uneven spaces and suitable for mass production, hold promise for exploration by robot groups, particularly in disaster scenarios. However, research on simultaneous localization and mapping (SLAM) for micro-hexapods has been lacking. Previous studies have not adequately addressed the development of SLAM systems considering changes in the body axis, and there is a lack of comparative evaluation with other movement mechanisms. This study aims to assess the influence of walking on SLAM capabilities in hexapod robots. Experiments were conducted using the same SLAM system and LiDAR on both a hexapod robot and crawler robot. The study compares map accuracy and LiDAR point cloud data through pattern matching. The experimental results reveal significant fluctuations in LiDAR point cloud data in hexapod robots due to changes in the body axis, leading to a decrease in map accuracy. In the future, the development of SLAM systems considering body axis changes is expected to be crucial for multi-legged robots like micro-hexapods. Therefore, we propose the implementation of a system that incorporates body axis changes during locomotion using inertial measurement units and similar sensors.

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“…Innovative fabrication methods taking the advantage of the flexible materials have also been proposed. For instance, a sensor structure was fabricated by folding the substrate like origami [ 18 ], and a 3D structure using a substrate consisting of a metal and resin substrate bonded together have also been proposed [ 19 ].…”

Section: Introductionmentioning

confidence: 99%

Sensitivity Enhancement of Tube-Integrated MEMS Flow Sensor Using Flexible Copper on Polyimide Substrate

et al. 2022

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A tube-integrated flow sensor is proposed in this study by integrating a micro-electro mechanical systems (MEMS) flow-sensing element and electrical wiring structure on the same copper on polyimide (COP) substrate. The substrate was rolled into a circular tube with the flow-sensing element installed at the center of the tube. The signal lines were simultaneously formed and connected to the Cu layer of the substrate during the fabrication of the sensing structure, thus simplifying the electrical connection process. Finally, by rolling the fabricated sensor substrate, the flow sensor device itself was transformed into a circular tube structure, which defined the airflow region. By implementing several slits on the substrate, the sensing element was successfully placed at the center of the tube where the flow velocity is maximum. Compared to the conventional sensor structure in which the sensor was placed on the inner wall surface of the tube, the sensitivity of the sensor was doubled.

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A micro hexapod robot for swarm applications assembled from a single FPC sheet

Cited by 10 publications

References 36 publications

Micro-hexapod robot with an origami-like SU-8-coated rigid frame

Micro-hexapod robot with an origami-like SU-8-coated rigid frame

The Influence of Micro-Hexapod Walking-Induced Pose Changes on LiDAR-SLAM Mapping Performance

Sensitivity Enhancement of Tube-Integrated MEMS Flow Sensor Using Flexible Copper on Polyimide Substrate

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