A miniature hybrid robot propelled by legs

Matthew C. Birch, Roger D. Quinn, Geon Hahm, Stephen Phillips, Barry Drennan, Randall D. Beer, Xinyu Yu, Steven L. Garverick, Sathaporn Laksanacharoen, Alan J. Pollack, Roy E. Ritzmann

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Scopus citations

Abstract

This paper describes the development of an autonomous hybrid micro-robot that uses legs for propulsion and support of the rear half of the body and uses a pair of wheels for support of the front half. McKibben artificial muscles actuate the legs and the compressed air that activates the actuators is generated by an on-board power plant comprising a pair of lithium batteries powering a gear motor driven air compressor. The control is also onboard in the form of a PIC that controls the actuators through four three-way valves that each consists of a pair of MEMS devices.

Original languageEnglish (US)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages845-851
Number of pages7
Volume2
StatePublished - 2001
Externally publishedYes
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: Oct 29 2001Nov 3 2001

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period10/29/0111/3/01

ASJC Scopus subject areas

  • Control and Systems Engineering

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