Design and feedback control of a biologically-inspired miniature quadruped

Insect-scale legged robots have the potential to locomote on rough terrain, crawl through confined spaces, and scale vertical and inverted surfaces. However, small scale implies that such robots are unable to carry large payloads. Limited payload capacity forces miniature robots to utilize simple control methods that can be implemented on a simple onboard microprocessor. In this study, the design of a new version of the biologically-inspired Harvard Ambulatory MicroRobot (HAMR) is presented. In order to find the most suitable control inputs for HAMR, maneuverability experiments are conducted for several drive parameters. Ideal input candidates for orientation and lateral velocity control are identified as a result of the maneuverability experiments. Using these control inputs, two simple feedback controllers are implemented to control the orientation and the lateral velocity of the robot. The controllers are used to force the robot to track trajectories with a minimum turning radius of 55 mm and a maximum lateral to normal velocity ratio of 0.8. Due to their simplicity, the controllers presented in this work are ideal for implementation with on-board computation for future HAMR prototypes.