A miniature hybrid robot propelled by legs

  • Birch M
  • Quinn R
  • Hahm G
 et al. 
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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

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Authors

  • Matthew C. Birch

  • Roger D. Quinn

  • Geon Hahm

  • Stephen M. Phillips

  • Barry Drennan

  • Randall D. Beer

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