RoACH: An autonomous 2.4g crawling hexapod robot

Abstract

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 microstructures (SCM) process, the robot is capable of speeds up to 1 body length/sec or approximately 3 cm/s. All power and control… (More)
DOI: 10.1109/IROS.2008.4651149

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