Design of Centimeter entimeter-scale Inchworm nchworm Robot obots with Bidirectional idirectional Claws laws
We present the design and fabrication of centimeter scale robots robots, which use inch inchwor worm-like motion and bidirectional cl claws aws. Two wo prototype prototypes for different locomotion goals were buil built utilizing the these se two characteristics characteristics: Type I : is designed particularly for horizontal surfaces utilizing two linear actuators and compliant claw claws. This robot is ca capable of steering pable and straight mo motion tion by utilizing direction directionally anisotropic ally friction. Type II is a varia variant nt of Type I that is designed for locomotion on ferromagnetic ceiling ceilings or vertical plane planes by using permanent magnets. The Smart Composite Microstructure Microstructures (SCM) technique enables versat versatile ile and multi multi-jointed meso meso-scale devices suitable for such robots robots.
Dongwoo Lee Sinbae Kim Yong-Lae Park Robert J. Wood
School of Engineering and Applied Sciences,Harvard University,Cambridge,MA 02138 02138,USA USA Wyss Institute for Biologically Inspired Engineering,Harvard University,Boston,MA 02115,USA Faculty of the School of Engineering and Applied Scienc Sciences,Harvard University,Cambridge,MA 021
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3197-3204
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）