Biologically-Inspired Microrobots. Volume 3. Micro-Robot Based on Abstracted Biological Principles
Final rept. Jun 1998-Sep 2002
CASE WESTERN RESERVE UNIV CLEVELAND OH
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This is one of three reports on the study of micro-robots. This document describes the development of novel highly mobile small robots called Mini-Whegs that can run and jump. They are derived from our larger Whegs series of robots, which benefit from abstracted cockroach locomotion principles. Key to their success are the three-spoke appendages, called wheel-legs, which combine the speed and simplicity of wheels with the climbing mobility of legs. Mini-Whegs use four wheel-legs to run in an alternating diagonal gait. These approximately 3-inch-long robots can move at sustained speeds of over 10 body lengths per second and can run over obstacles that are taller than their leg length. They can run forward and backward, and on either side. Their robust construction allows them to tumble down a flight of stairs with no damage and carry a payload equal to twice their weight. A jumping mechanism has also been developed that enables Mini-Whegs to surmount much larger obstacles such as stair steps. A second report NATICKTR-05010 focuses on robots based on crickets, and a third NATICKTR-05011 focuses on the investigation of a micro-joint angle sensor using MEMS Cilia.
- Navigation and Guidance
- Active and Passive Radar Detection and Equipment