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— Mobile microrobots with characteristic dimensions on the order of 1cm are difficult to design using either MEMS (microelec-tromechanical systems) technology or precision machining. This is due to the challenges associated with constructing the high strength links and high-speed, low-loss joints with micron scale features required for such systems. Here we(More)
— This work presents the design, fabrication, and testing of a novel hexapedal walking millirobot using only two actuators. Fabricated from S2-Glass reinforced composites and flexible polymer hinges using the smart composite microstruc-tures (SCM) process, the robot is capable of speeds up to 1 body length/sec or approximately 3cm/s. All power and control(More)
— Rapid and consistent turning of running legged robots on surfaces with moderate friction is challenging due to leg slip and uncertain dynamics. A tail is proposed as a method to effect turns at higher yaw frequencies than can be obtained by differential velocity drive of alternate sides. Here we introduce a 100 mm scale dynamic robot-OctoRoACH-with(More)
A teletaction system uses a tactile display to present the user with information about texture, local shape, and/or local compliance. Current tactile displays are at and rigid, and require precise machining and assembly of many parts. This paper describes the fabrication and performance of a one-piece pneumatically-actuated tactile display molded from(More)
This paper discusses two processes for rapidly prototyping micromechanical systems: first microassembly, and second, laser cutting of thin sheets and folding. Sub-millimeter rigid blocks can be dextrously manipulated using two 1 DOF fingers and an XYZ micro-positioning stage. Algorithms for micro-part manipulation use open-loop compliant grasps combined(More)
Geckos are exceptional in their ability to climb rapidly up smooth vertical surfaces. Microscopy has shown that a gecko's foot has nearly five hundred thousand keratinous hairs or setae. Each 30-130 microm long seta is only one-tenth the diameter of a human hair and contains hundreds of projections terminating in 0.2-0.5 microm spatula-shaped structures.(More)
—DASH is a small, lightweight, power autonomous robot capable of running at speeds up to 15 body lengths per second (see video). Drawing inspiration from biomechanics, DASH has a sprawled posture and uses an alternating tripod gait to achieve dynamic open-loop horizontal locomotion. The kinematic design which uses only a single drive motor and allows for a(More)
— Rapidly running arthropods like cockroaches make use of passive dynamics to achieve remarkable locomotion performance with regard to stability, speed, and maneuverability. In this work, we take inspiration from these organisms to design, fabricate, and control a 10cm, 24 gram underactuated hexapedal robot capable of running at 14 body lengths per second(More)