RoACH: An autonomous 2.4g crawling hexapod robot
RoACH: автономный ползающий шестиногий робот массой 2,4 г
2008-09-01
SCID: 54.1/v2pp8vkf
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RoACHS2-glass reinforced compositescrawling hexapodshape memory alloy actuationsmart composite microstructures (SCM)
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Abstract (AI)
This work presents the design, fabrication, and testing of a novel hexapedal walking millirobot using only two actuators. Fabricated from S2-glass reinforced composites and flexible polymer hinges using the smart composite microstructures (SCM) process, the robot is capable of speeds up to 1 body length/sec or approximately 3 cm/s. All power and control electronics are onboard and remote commands are enabled by an IrDA link. Actuation is provided by shape memory alloy wire. At 2.4 g including control electronics and battery, RoACH is the smallest and lightest autonomous legged robot produced to date.
Key Findings
1
All power and control electronics are onboard, with remote commands enabled via an IrDA link.
2
At 2.4 g including control electronics and battery, RoACH is the smallest and lightest autonomous legged robot reported to date.
3
RoACH achieves speeds up to 1 body length per second (approximately 3 cm/s).
4
RoACH is a hexapedal walking millirobot that uses only two actuators to achieve locomotion.
5
The robot is fabricated from S2-glass reinforced composites and flexible polymer hinges using the SCM process.
Research Object
RoACH, an autonomous 2.4 g crawling hexapod millirobot fabricated from S2-glass reinforced composites and flexible polymer hinges using the SCM process
Research Subject
Design, fabrication, and performance (locomotion speed up to ~1 body length/s ≈ 3 cm/s, onboard power/control, IrDA remote commands) of a two-actuator hexapedal walking robot actuated by shape memory alloy wire
Publication Details
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2008-09-01
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