Title :
MEDIC: A legged millirobot utilizing novel obstacle traversal
Author :
Kohut, Nicholas J. ; Hoover, Aaron M. ; Ma, Kevin Y. ; Baek, Stanley S. ; Fearing, Ronald S.
Author_Institution :
Dept. of Mech. Eng., Univ. of California, Berkeley, CA, USA
Abstract :
This work presents the design, fabrication, capabilities, and obstacle traversal mechanics of MEDIC (Millirobot Enabled Diagnostic of Integrated Circuits), a small legged robot able to overcome a varied array of obstacles. MEDIC features a hull that keeps its body in contact with the ground at all times, and uses only four actuators to move forward, turn, mount obstacles, and move in reverse. The chassis is fabricated using a Smart Composite Microstructures (SCM) approach and the robot is actuated by coiled Shape Memory Alloy (SMA). MEDIC also features a camera which will be useful for navigation in the future.
Keywords :
actuators; collision avoidance; integrated circuit design; legged locomotion; microrobots; MEDIC; actuators; coiled shape memory alloy; legged millirobot; millirobot enabled diagnostic of integrated circuits; obstacle traversal mechanics; small legged robot; smart composite microstructures approach; Actuators; Leg; Legged locomotion; Medical diagnostic imaging; Springs; Wiring;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5980360
