A miniature hybrid robot propelled by legs

Author

Birch, Matthew C. ; Quinn, Roger D. ; Hahm, Geon ; Phillips, Stephen M. ; Drennan, Barry ; Beer, Randall D. ; Yu, Xinyu ; Garverick, Steven L. ; Laksanacharoen, Sathaporn ; Pollack, Alan J. ; Ritzmann, Roy E.

Author_Institution

Case Western Reserve Univ., Cleveland, OH, USA

Volume

2

fYear

2001

fDate

2001

Firstpage

845

Abstract

Describes the development of an autonomous hybrid micro-robot that uses legs for propulsion and support of the rear half of the body and uses a pair of wheels for support of the front half. McKibben artificial muscles actuate the legs and the compressed air that activates the actuators is generated by an on-board power plant comprising a pair of lithium batteries powering a gear motor driven air compressor. The control is also onboard in the form of a PIC that controls the actuators through four three-way valves that each consists of a pair of MEMS devices

Keywords

feedback; feedforward; legged locomotion; microactuators; microrobots; neurocontrollers; pneumatic control equipment; recurrent neural nets; valves; MEMS devices; McKibben artificial muscles; gear motor driven air compressor; miniature hybrid robot; three-way valves; wheels; Actuators; Batteries; Leg; Legged locomotion; Lithium; Mobile robots; Muscles; Power generation; Propulsion; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.976274

Filename

976274