Design of a cricket microrobot

Author

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

Author_Institution

Case Western Reserve Univ., Cleveland, OH, USA

Volume

2

fYear

2000

fDate

2000

Firstpage

1109

Abstract

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

Keywords

legged locomotion; microactuators; microrobots; neurocontrollers; pneumatic control equipment; robot kinematics; autonomous robot; compressed air; cricket; joint angle sensors; kinematics; legged locomotion; microrobot; neural network; neurocontrol; pneumatic actuators; Biosensors; Kinematics; Legged locomotion; Micromechanical devices; Neural networks; Pneumatic actuators; Robot control; Robot sensing systems; Valves; Very large scale integration;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.844747

Filename

844747