Biologically-inspired locomotion of a 2g hexapod robot

Here we present the design, modeling, and fabrication of a 2g mobile robot. By applying principles from biology and existing meso-scale fabrication techniques, a 5.7cm hexapod robot with sprawled posture has been created, and is capable of locomotion up to 4 body-lengths per second using the alterna...

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Bibliographic Details
Published in2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 5360 - 5365
Main Authors Baisch, A T, Sreetharan, P S, Wood, R J
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2010
Subjects
Actuators
Couplings
Fabrication
Kinematics
Leg
Legged locomotion
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ISBN9781424466740
1424466741
ISSN2153-0858
DOI10.1109/IROS.2010.5651789

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Summary:Here we present the design, modeling, and fabrication of a 2g mobile robot. By applying principles from biology and existing meso-scale fabrication techniques, a 5.7cm hexapod robot with sprawled posture has been created, and is capable of locomotion up to 4 body-lengths per second using the alternating tripod gait at 20Hz actuation frequency. Furthermore, this work proves the viability of a new mechanical linkage design, fabricated using the smart composite microstructure process, to provide desirable leg trajectories for successful ambulation at the insect-scale.
ISBN:9781424466740
1424466741
ISSN:2153-0858
DOI:10.1109/IROS.2010.5651789