RoACH: An autonomous 2.4g crawling hexapod robot

Author

Hoover, Aaron M. ; Steltz, Erik ; Fearing, Ronald S.

Author_Institution

Univ. of California, Berkeley, CA

fYear

2008

fDate

22-26 Sept. 2008

Firstpage

26

Lastpage

33

Abstract

This work presents the design, fabrication, and testing of a novel hexapedal walking millirobot using only two actuators. Fabricated from S2-glass reinforced composites and flexible polymer hinges using the smart composite microstructures (SCM) process, the robot is capable of speeds up to 1 body length/sec or approximately 3 cm/s. All power and control electronics are onboard and remote commands are enabled by an IrDA link. Actuation is provided by shape memory alloy wire. At 2.4 g including control electronics and battery, RoACH is the smallest and lightest autonomous legged robot produced to date.

Keywords

actuators; glass fibre reinforced composites; legged locomotion; IrDA link; S2-glass reinforced composites; actuators; autonomous crawling hexapod robot; autonomous legged robots; control electronics; hexapedal walking millirobot; remote commands; smart composite microstructures; Actuators; Couplings; Fasteners; Robot sensing systems; Robots; Springs; Wire;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Conference_Location

Nice

Print_ISBN

978-1-4244-2057-5

Type

conf

DOI

10.1109/IROS.2008.4651149

Filename

4651149