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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)
A paper-based electrostatic zipper actuator for printable robotics has been designed, fabricated and characterized. A simple fabrication process that utilizes paper with a carbon nanotube ink is used to create electrodes separated by either a mylar or parylene dielectric layer. A 5 cm × 1 cm actuator demonstrated a maximum static deflection of 1.8 cm(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)