Cricket-based robots

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

doi:10.1109/MRA.2002.1160068

Cricket-based robots

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

Research output: Contribution to journal › Article › peer-review

21 Scopus citations

Abstract

The development of an autonomous hybrid microrobot is discussed. It uses legs for propulsion and support of the rear half of the body and a pair of wheels for support of the front half. The design allows for more capable locomotion and provides a simpler system than a totally legged robot. The legged propulsion of the hybrid robot is inspired by the locomotor behavior of the house cricket.

Original language	English (US)
Pages (from-to)	20-30
Number of pages	11
Journal	IEEE Robotics and Automation Magazine
Volume	9
Issue number	4
DOIs	https://doi.org/10.1109/MRA.2002.1160068
State	Published - Dec 2002
Externally published	Yes

Keywords

Artificial muscles
Biology
MEMS
Micro-valves
Minature robots
Neural networks

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/MRA.2002.1160068

Cite this

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title = "Cricket-based robots",

abstract = "The development of an autonomous hybrid microrobot is discussed. It uses legs for propulsion and support of the rear half of the body and a pair of wheels for support of the front half. The design allows for more capable locomotion and provides a simpler system than a totally legged robot. The legged propulsion of the hybrid robot is inspired by the locomotor behavior of the house cricket.",

keywords = "Artificial muscles, Biology, MEMS, Micro-valves, Minature robots, Neural networks",

author = "Birch, {Matthew C.} and Quinn, {Roger D.} and Geon Hahm and Phillips, {Stephen M.} and Drennan, {Barry T.} and Fife, {Andrew J.} and Beer, {Randall D.} and Xinyu Yu and Garverick, {Steven L.} and Sathaporn Laksanacharoen and Pollack, {Alan J.} and Ritzmann, {Roy E.}",

note = "Funding Information: Introducing an Autonomous Hybrid Microrobot Propelled by Legs and Supported by Legs and Wheels Funding Information: We thank Chris Pastore at the Philadelphia College of Textile and Science for braiding the pneumatic actuators. This work was supported by DARPA Distributed Robotics Program under contract DAAN02-98-C-4027.",

year = "2002",

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doi = "10.1109/MRA.2002.1160068",

language = "English (US)",

volume = "9",

pages = "20--30",

journal = "IEEE Robotics and Automation Magazine",

issn = "1070-9932",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "4",

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AU - Birch, Matthew C.

AU - Quinn, Roger D.

AU - Hahm, Geon

AU - Phillips, Stephen M.

AU - Drennan, Barry T.

AU - Fife, Andrew J.

AU - Beer, Randall D.

AU - Yu, Xinyu

AU - Garverick, Steven L.

AU - Laksanacharoen, Sathaporn

AU - Pollack, Alan J.

AU - Ritzmann, Roy E.

N1 - Funding Information: Introducing an Autonomous Hybrid Microrobot Propelled by Legs and Supported by Legs and Wheels Funding Information: We thank Chris Pastore at the Philadelphia College of Textile and Science for braiding the pneumatic actuators. This work was supported by DARPA Distributed Robotics Program under contract DAAN02-98-C-4027.

PY - 2002/12

Y1 - 2002/12

N2 - The development of an autonomous hybrid microrobot is discussed. It uses legs for propulsion and support of the rear half of the body and a pair of wheels for support of the front half. The design allows for more capable locomotion and provides a simpler system than a totally legged robot. The legged propulsion of the hybrid robot is inspired by the locomotor behavior of the house cricket.

AB - The development of an autonomous hybrid microrobot is discussed. It uses legs for propulsion and support of the rear half of the body and a pair of wheels for support of the front half. The design allows for more capable locomotion and provides a simpler system than a totally legged robot. The legged propulsion of the hybrid robot is inspired by the locomotor behavior of the house cricket.

KW - Artificial muscles

KW - Biology

KW - MEMS

KW - Micro-valves

KW - Minature robots

KW - Neural networks

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Cricket-based robots

Abstract

Keywords

ASJC Scopus subject areas

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