Passive undulatory gaits enhance walking in a myriapod millirobot

Hoffman, Katie L.; Wood, Robert J.

doi:10.1109/iros.2011.6094700

Cited by 38 publications

(22 citation statements)

References 12 publications

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“…While large-scale robots are more likely to be actuated with motors at distinct joint locations, small-scale robots often feature compliance throughout or over large portions of their structure. Additionally, locomotion is influenced by light damping compared to larger systems, large fabrication uncertainties relative to the size of structural features, and relatively high resonant frequencies [5,6]. This is especially prevalent in robots based on smart materials and/ or micromachined structures.…”

Section: Introductionmentioning

confidence: 99%

“…Works focusing on small-scale effects in microrobots using an analytical framework have addressed more limited types of gait or operation, including: (1) stick-slip walking on a smooth surface [10]; (2) multi-axis, multilayer elastic leg dynamic operation in air [11,12]; and (3) ground contact of a single leg [13]. Studies of small robot dynamics at a full-robot level have included finite element analysis [14] and use of lumped parameter models dictating interaction between legs and body [5,6], including with some foot-terrain interaction [15]. A summary of the above combinations of robot and ground contact dynamic modeling techniques is compared in Table 1 for various walking robots with sizes ranging from tens of centimeter to tens of microns.…”

Section: Introductionmentioning

confidence: 99%

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Modeling Legged Microrobot Locomotion Based on Contact Dynamics and Vibration in Multiple Modes and Axes

Teeple

Oldham

2017

Journal of Vibration and Acoustics

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A dynamic model is developed for small-scale robots with multiple high-frequency actuated compliant elastic legs and a rigid body. The motion of the small-scale robots results from dual-direction motion of piezoelectric actuators attached to the legs, with impact dynamics increasing robot locomotion complexity. A dynamic model is developed to describe the small-scale robot motion in the presence of variable properties of the underlying terrain. The dynamic model is derived from beam theory with appropriate boundary and loading conditions and considers each robot leg as a continuous structure moving in two directions. Robot body motion is modeled in up to five degrees-of-freedom (DOF) using a rigid body approximation for the central robot chassis. Individual modes of the resulting multimode robot are treated as second-order linear systems. The dynamic model is tested with two different centimeter-scale robot prototypes having an analogous actuation scheme to millimeter-scale microrobots. In accounting for the interaction between the robot and ground, a dynamic model using the first two modes of each leg shows good agreement with experimental results for the centimeter-scale prototypes, in terms of both magnitude and the trends in robot locomotion with respect to actuation conditions.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modeling Legged Microrobot Locomotion Based on Contact Dynamics and Vibration in Multiple Modes and Axes

Teeple

Oldham

2017

Journal of Vibration and Acoustics

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“…Similarly, Hoffman et al designed a micro scale centipede robot with passive revolute joints located between repeated two-legged segments. The legs of each segment were coupled to two linear actuators that provide opposing moments about the center of mass (COM) causing the body to extend, raise the legs and the robot forward [10]. The Rhex hexapod robot was designed with six actuated DOF that continuously rotate compliant C-shaped legs that propel the robot forward [11].…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Robotic Modular Leg Mechanism

Saab

Ben-Tzvi

2016

Volume 5A: 40th Mechanisms and Robotics Conference

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This paper presents the design and analysis of a reduced degree-of-freedom Robotic Modular Leg (RML) mechanism used to construct a quadruped robot. This mechanism enables the robot to perform forward and steering locomotion with fewer actuators than conventional quadruped robots. The RML is composed of a double four-bar mechanism that maintains foot orientation parallel to the base and decouples actuation for simplified control, reduced weight and lower cost of the overall robotic system. A passive suspension system in the foot enables a stable four-point contact support polygon on uneven terrain. Foot trajectories are generated and synchronized using a trot and modified creeping gait to maintain a constant robot body height, horizontal body orientation, and provide the ability to move forward and steer. The locomotion principle and performance of the mechanism are analyzed using multi-body dynamic simulations of a virtual quadruped and experimental results of an integrated RML prototype.

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“…The lift and swing DOFs are actuated using optimal energy density piezoelectric bimorph cantilevers [6], selected due to their simple geometry, scalability, compatibility with pop-up book MEMS, and successful implementations in other miniature robots [17], [18]. Each actuator comprises a carbon fiber core sandwiched between two 127µm thick leadzirconate-titanate (PZT-5H) plates, as well as a patterned copper-clad FR-4 layer for electrical and mechanical connections.…”

Section: Microrobot Design and Fabrication A Mechanical Design mentioning

confidence: 99%

A wirelessly powered, biologically inspired ambulatory microrobot

Karpelson

Waters

Goldberg

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-Onboard power remains a major challenge for miniature robotic platforms. Locomotion at small scales demands high power densities from all system components, while limited payload capacities place severe restrictions on the size of the energy source, resulting in integration challenges and short operating times when using conventional batteries. Wireless power delivery has the potential to allow microrobotic platforms to operate autonomously for extended periods when near a transmitter. This paper describes the first demonstration of RF wireless power transfer in an insect-scale ambulatory robot. A wireless power transmission system based on magnetically coupled resonance is designed for the latest iteration of the Harvard Ambulatory MicroRobot (HAMR), a piezoelectrically driven quadruped that had previously received power through a tether. Custom power and control electronics are designed and implemented on lightweight printed circuit boards that form a part of the mechanical structure of the robot. The integration of the onboard receiver, power and control electronics, and mechanical structure yields a 4cm, 2.1g robot that can operate autonomously in two wireless power transmission scenarios.

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Passive undulatory gaits enhance walking in a myriapod millirobot

Cited by 38 publications

References 12 publications

Modeling Legged Microrobot Locomotion Based on Contact Dynamics and Vibration in Multiple Modes and Axes

Modeling Legged Microrobot Locomotion Based on Contact Dynamics and Vibration in Multiple Modes and Axes

Design and Analysis of a Robotic Modular Leg Mechanism

A wirelessly powered, biologically inspired ambulatory microrobot

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