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

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 proceeding › Conference contribution

26 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 language	English (US)
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Pages	845-851
Number of pages	7
Volume	2
State	Published - 2001
Externally published	Yes
Event	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States Duration: Oct 29 2001 → Nov 3 2001

Other

Other	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	Maui, HI
Period	10/29/01 → 11/3/01

ASJC Scopus subject areas

Control and Systems Engineering

Cite this

Birch, MC, Quinn, RD, Hahm, G, Phillips, S, Drennan, B, Beer, RD, Yu, X, Garverick, SL, Laksanacharoen, S, Pollack, AJ & Ritzmann, RE 2001, A miniature hybrid robot propelled by legs. in IEEE International Conference on Intelligent Robots and Systems. vol. 2, pp. 845-851, 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, United States, 10/29/01.

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language = "English (US)",

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AU - Drennan, Barry

AU - Beer, Randall D.

AU - Yu, Xinyu

AU - Garverick, Steven L.

AU - Laksanacharoen, Sathaporn

AU - Pollack, Alan J.

AU - Ritzmann, Roy E.

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AB - 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.

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Y2 - 29 October 2001 through 3 November 2001

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A miniature hybrid robot propelled by legs

Abstract

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ASJC Scopus subject areas

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