Scaling down an insect-size microrobot, HAMR-VI into HAMR-Jr

Jayaram, Kaushik; Shum, Jennifer; Castellanos, Samantha; Helbling, E. Farrell; Wood, Robert J.

doi:10.1109/icra40945.2020.9197436

Cited by 57 publications

(28 citation statements)

References 31 publications

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“…A clear example of success in the field is the work by the group of Robert J. Wood, with a progressive improvement in the performance and the miniaturization of the proposed robot [ 7 , 8 , 9 , 10 , 11 , 12 ]. This biologically inspired robot possessed a sophisticated flexure-based transmission linkage connected to the legs to induce different gait cycles.…”

Section: Introductionmentioning

confidence: 99%

Comparative Study of Traveling and Standing Wave-Based Locomotion of Legged Bidirectional Miniature Piezoelectric Robots

et al. 2021

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The use of wave-based locomotion mechanisms is already well established in the field of robotics, using either standing waves (SW) or traveling waves (TW). The motivation of this work was to compare both the SW- and the TW-based motion of a 20-mm long sub-gram glass plate, with attached 3D printed legs, and piezoelectric patches for the actuation. The fabrication of the robot did not require sophisticated techniques and the speed of motion was measured under different loading conditions. In the case of the TW mechanism, the influence of using different pairs of modes to generate the TW on the locomotion speed has been studied, as well as the effect of the coupling of the TW motion and the first flexural vibration mode of the legs. This analysis resulted in a maximum unloaded speed of 6 bodylengths/s (BL/s) at 65 V peak-to-peak (Vpp). The SW approach also examined different modes of vibration and a speed of locomotion as high as 14 BL/s was achieved, requiring, unlike the TW case, a highly precise location of the legs on the glass supporting platform and a precise tuning of the excitation frequency.

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Section: Introductionmentioning

confidence: 99%

Comparative Study of Traveling and Standing Wave-Based Locomotion of Legged Bidirectional Miniature Piezoelectric Robots

et al. 2021

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“…However, not all kinematic parameters vary linearly with scale. From mechanical equations, some scale factors have been set [107,108], giving a scaling effect on essential physical values like mass, frequency, stiffness, damping, velocity, and power. Thus, a small size robot with a scale close to that of an insect can possess a light structure, fine legs, and walk at a high frequency.…”

Section: Scale Effect On Level Of Performancementioning

confidence: 99%

“…The advantages of working with a high scaling factor are their improvements in energetic values and technological limits (see Table 2). Regarding power consumption, represented by the CoT (see Section 2.1.2), the relationship between different scales of the same robot morphology has not yet been precisely fixed [89,108]. Basically, the global trend shows that, the more massive the hexapod, the lower its CoT; thus, it has a better walk efficiency.…”

Section: Scale Effect On Level Of Performancementioning

confidence: 99%

Insect-Inspired Robots: Bridging Biological and Artificial Systems

Manoonpong

Patané

Xiong

et al. 2021

Sensors

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This review article aims to address common research questions in hexapod robotics. How can we build intelligent autonomous hexapod robots that can exploit their biomechanics, morphology, and computational systems, to achieve autonomy, adaptability, and energy efficiency comparable to small living creatures, such as insects? Are insects good models for building such intelligent hexapod robots because they are the only animals with six legs? This review article is divided into three main sections to address these questions, as well as to assist roboticists in identifying relevant and future directions in the field of hexapod robotics over the next decade. After an introduction in section (1), the sections will respectively cover the following three key areas: (2) biomechanics focused on the design of smart legs; (3) locomotion control; and (4) high-level cognition control. These interconnected and interdependent areas are all crucial to improving the level of performance of hexapod robotics in terms of energy efficiency, terrain adaptability, autonomy, and operational range. We will also discuss how the next generation of bioroboticists will be able to transfer knowledge from biology to robotics and vice versa.

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“…Carefully engineered robot designs have been shown to simplify the downstream computational problems of grasping and manipulation [6]- [10]. While robot designs have drawn direct inspirations from reallife organisms [14]- [16], it remains an immense challenge in dealing with numerous design parameters and practical constraints. Optimization-based methods have been used for automating the co-design of morphology and control.…”

Section: Related Workmentioning

confidence: 99%

Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects

Pan

Garg

Anandkumar

et al. 2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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Evolution in nature illustrates that the creatures' biological structure and their sensorimotor skills adapt to the environmental changes for survival. Likewise, the ability to morph and acquire new skills can facilitate an embodied agent to solve tasks of varying complexities. In this work, we introduce a data-driven approach where effective hand designs naturally emerge for the purpose of grasping diverse objects. Jointly optimizing morphology and control imposes computational challenges since it requires constant evaluation of a black-box function that measures the performance of a combination of embodiment and behavior. We develop a novel Bayesian Optimization algorithm that efficiently co-designs the morphology and grasping skills jointly through learned latentspace representations. We design the grasping tasks based on a taxonomy of three human grasp types: power grasp, pinch grasp, and lateral grasp. Through experimentation and comparative study, we demonstrate the effectiveness of our approach in discovering robust and cost-efficient hand morphologies for grasping novel objects. https://xinleipan.github.io/ emergent_morphology/ 1 NVIDIA,

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Scaling down an insect-size microrobot, HAMR-VI into HAMR-Jr

Cited by 57 publications

References 31 publications

Comparative Study of Traveling and Standing Wave-Based Locomotion of Legged Bidirectional Miniature Piezoelectric Robots

Comparative Study of Traveling and Standing Wave-Based Locomotion of Legged Bidirectional Miniature Piezoelectric Robots

Insect-Inspired Robots: Bridging Biological and Artificial Systems

Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects

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