Design of a cricket microrobot

Matthew C. Birch, Roger D. Quinn, Geon Hahm, Stephen Phillips, Barry Drennan, Andrew Fife, Hiten Verma, Randall D. Beer

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

50 Scopus citations

Abstract

Our goal is to develop an autonomous robot that will fit within a two-inch cube and will locomote by walking and jumping. The robot will be based on the kinematics of a cricket. It will be actuated by braided pneumatic actuators with compressed air provided by an onboard compressor. The air will be distributed by an array of actuated MEMS valves. A neural network will control the robot and it will be implemented in an analog VLSI circuit. The joint angles will be measured using MEMS joint angle sensors that are based on biological sensors studied in the cricket and other insects.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1109-1114
Number of pages6
Volume2
StatePublished - 2000
Externally publishedYes
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: Apr 24 2000Apr 28 2000

Other

OtherICRA 2000: IEEE International Conference on Robotics and Automation
CitySan Francisco, CA, USA
Period4/24/004/28/00

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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  • Cite this

    Birch, M. C., Quinn, R. D., Hahm, G., Phillips, S., Drennan, B., Fife, A., Verma, H., & Beer, R. D. (2000). Design of a cricket microrobot. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2, pp. 1109-1114)