Caterpillar-Inspired Insect-Scale Climbing Robot Using Dry Adhesives

Khalil, Mohamed M.; Mashimo, Tomoaki

doi:10.1109/lra.2022.3183897

Cited by 8 publications

(2 citation statements)

References 36 publications

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“…To follow the variable signals, we add another external voltage control loop (controlled by a PID controller) besides the ESC internal control loop. The PID controller manipulates the input volts which are proportional to the angular velocity in a roughly linear layout as previously shown in [23]. The PID controller was designed and tuned using the online closed-loop autotuning toolbox of the MATLAB Simulink program.…”

Section: ) Variable Speed Experimentsmentioning

confidence: 99%

“…We have studied micro-ultrasonic motors, which is one of the most powerful actuators in a 2-3 mm scale [4]. Although it is still open-loop, these micromotors have represented a possibility toward microrobot applications, such as insectscale robots [22], [23] and micro aerial vehicles [24]. For further development of microrobots, constructing a closedloop was absolutely necessary, but there was no tiny sensor that can be attached to the micro-ultrasonic motor.…”

Section: Introductionmentioning

confidence: 99%

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A Closed-Loop Micro-Ultrasonic Motor Control System With Extremum Seeking

et al. 2023

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Microactuators are an essential technology to revolutionize existing micromachines, but making them closed-loop controlled with an internal sensor is a great challenge due to the limited size of the components. In this paper, we build a micro-ultrasonic motor in the 2-3 mm scale, combine it with a tunneling magneto resistance (TMR) sensor with dimensions of 1.4 mm × 1 mm, and construct a closedloop system with a control algorithm. It is currently the smallest rotary actuator-sensor system assembled into a size with a height of 3.2 mm, a width of 3.2 mm, and a length of 5 mm. In the system, we attempt to solve a steady-state error problem for the micro-ultrasonic motor's internal parameter changes, such as a temperature rise and the resonant frequency variation. A model-free, real-time-adaptive extremum seeking controller (ESC) that continuously tracks and localizes the optimum driving frequency is implemented into the system for the desired rotation with minimum steady-state error. Although the controller is simply designed, experiments show a good accordance between the resulting angular velocity and the reference.INDEX TERMS Piezoelectric actuators, ultrasonic motors, micromotors, closed-loop control, extremum seeking controller, and temperature disturbance.

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Section: ) Variable Speed Experimentsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Closed-Loop Micro-Ultrasonic Motor Control System With Extremum Seeking

et al. 2023

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Locomotion for Insect‐Scale Robots With Bionic Strategies: A Review

Zou,

Ma,

Chen

et al. 2024

Journal of Field Robotics

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Insect‐scale robots possess the advantageous traits of small size, lightweight, and high flexibility. These features make them suitable for complex, narrow, or higher‐than‐the‐ground environments, allowing these insect‐scale robots to become highly sought‐after research topics. However, the miniaturization of robots has brought challenges to improving their environmental adaptability, such as climbing and obstacle‐crossing abilities. Mainstream strategies inspired by natural creatures to address these challenges can be classified into two types: adhesion for climbing robots and multi‐motion modes for obstacle‐crossing robots. Adhesion is preferred for occasions requiring climbing slopes, walls, or ceilings. In contrast, multi‐motion modes are suitable for occasions with limited obstacle heights or complex terrains to enable miniaturization and cable‐free operation. This paper summarizes the current research on environment‐adaptable insect‐scale robots (EAISRs) with adhesion or multi‐motion modes. Then, the paper discusses the advantages, disadvantages, and application scenarios of EAISRs, including climbing robots with different adhesion strategies and obstacle‐crossing robots with various driving methods in detail. Finally, this paper proposes the future challenges and possible solutions for EAISRs, providing ideas for future interactions between insect‐scale robots and the environment.

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