Sarah Bergbreiter

Learn More
The CotsBots are inexpensive and modular mobile robots built entirely from commercial off-the-shelf components. These robots provide a convenient platform on which to investigate algorithms, cooperation, and distributed sensing in large (> 50) robot networks. Each robot is small (13cm x 6.5cm base) and costs under $200. Each is equipped with on-board(More)
This paper presents the design and initial results for an autonomous jumping microrobot. At the millimeter size scale, jumping can offer numerous advantages for efficient locomotion, including dealing with obstacles and potentially even latching onto other larger mobile hosts. Robot design is divided into four primary areas: energy storage, actuation,(More)
This paper describes the performance of a fluidic microrobot using Electrowetting on Dielectric (EWOD). A system to control the fluidic microrobot was designed, constructed and deployed in the NIST Mobile Microrobotics Challenge at ICRA 2011. The microrobots (0.1 M KCl and 550 μm diameter) demonstrated the ability to perform controlled maneuvers in(More)
Miniature legged robots have demonstrated fast locomotion at small sizes, but underactuation generally limits their performance in rapid turns and other dynamic maneuvers. In this work, the inertial effect of swinging a dynamic tail was studied as a method to achieve these rapid turns. An analytic model of a robot with a reaction wheel tail was developed to(More)
This paper presents the first results for jumping robots at millimeter size scales. Jumping at small sizes requires the quick release of stored energy to accelerate the robot to its takeoff velocity. Two approaches to this energy release are considered. The first is similar to the method used by most larger jumping robots and insects; energy is stored(More)
Autonomous mobile microrobots have the potential for use in a number of applications ranging from mobile sensor networks to search and rescue. As the size of the robot gets smaller, finding an effective and efficient means of locomotion becomes especially challenging. This paper explores the limits for locomotion efficacy and efficiency by comparing simple(More)