This paper 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.
CITATION STYLE
Birch, M. C., Quinn, R. D., Hahm, G., Phillips, S. M., Drennan, B., Beer, R. D., … Ritzmann, R. E. (2001). A miniature hybrid robot propelled by legs. IEEE International Conference on Intelligent Robots and Systems, 2, 845–851. https://doi.org/10.1109/IROS.2001.976274
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