Omegabot: Crawling robot inspired by Ascotis Selenaria

In this paper, we describe the design, fabrication processes, and control of a new biomimetic robot inspired by the inchworm, Ascotis Selenaria. The robot, called Omegabot, is named after the omega (Ω) shape of the crawling motion of the inchworm. This type of inchworm can travel approximately its body length per stroke along rough surfaces, leaf edges, and boughs of trees. The robot is built with smart composite microstructures (SCM), a fabrication method that uses laser micromachining to cut composites and assemble them into micro structures. We suggest a special pattern design for SCM to generate a two-dimensional turning motion, crawling motion, and a proleg design for climbing a tree. The robot is actuated with a shape memory alloy coil actuator activated by a PWM (pulse-width modulation) signal control electric current. As a result, Omegabot can crawl, turn, and grip a tree bough. This robot can be used for search and rescue or gathering useful information in an area where only small-scale robots can penetrate.