RoACH: An autonomous 2.4g crawling hexapod robot

@article{Hoover2008RoACHAA,
  title={RoACH: An autonomous 2.4g crawling hexapod robot},
  author={Aaron M. Hoover and Erik Steltz and Ronald S. Fearing},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={26-33}
}
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 electronics are onboard and remote commands are enabled by an IrDA link. Actuation is provided by shape memory alloy wire. At 2.4 g including… CONTINUE READING

Citations

Publications citing this paper.
SHOWING 1-10 OF 125 CITATIONS

Novel Integrated System Architecture for an Autonomous Jumping Micro-Robot

VIEW 6 EXCERPTS
CITES METHODS & BACKGROUND
HIGHLY INFLUENCED

Millipede-Inspired Locomotion for Rumen Monitoring through Remotely Operated Vehicle

VIEW 9 EXCERPTS
CITES BACKGROUND
HIGHLY INFLUENCED

MEDIC: A legged millirobot utilizing novel obstacle traversal

VIEW 6 EXCERPTS
CITES BACKGROUND & METHODS

Redesign of the micromechanical flying insect in a power density context

VIEW 5 EXCERPTS
CITES METHODS & BACKGROUND

Gait Exploration of Sub-2 g Robots Using Magnetic Actuation

VIEW 3 EXCERPTS
CITES BACKGROUND
HIGHLY INFLUENCED

A template candidate for miniature legged robots in quasi-static motion

VIEW 2 EXCERPTS
CITES METHODS & BACKGROUND
HIGHLY INFLUENCED

Development of bio-inspired walking microrobot using PVDF/PVP/PSSA-based IPMC actuator

VIEW 2 EXCERPTS
CITES METHODS
HIGHLY INFLUENCED

FILTER CITATIONS BY YEAR

2008
2020

CITATION STATISTICS

  • 11 Highly Influenced Citations

  • Averaged 14 Citations per year from 2017 through 2019

References

Publications referenced by this paper.
SHOWING 1-10 OF 13 REFERENCES

Enabling technologies and subsystem integration for an autonomous palm-sized glider

  • R. Wood, S. Avadhanula, +6 authors R. Fearing
  • IEEE Robotics and Automation Magazine, vol. 14, pp. 82–91, 2007.
  • 2007
VIEW 1 EXCERPT

Whole body adhesion: hierarchical, directional and distributed control of adhesive forces for a climbing robot

VIEW 1 EXCERPT

A Cockroach-Inspired Hexapod Robot Actuated by LIPCA

A Small, Insect-Inspired Robot that Runs and Jumps

VIEW 1 EXCERPT

Dynamic stabilization of rapid hexapedal locomotion.

VIEW 1 EXCERPT

Compliant mechanisms

  • L. L. Howell
  • 2001
VIEW 1 EXCERPT

Development of a piezoelectrically-actuated mesoscale robot quadruped

  • M. Goldfarb, M. Gogola, G. Fischer, E. Garcia
  • J. of Micromechatronics, vol. 1, no. 3, pp. 205–219, July 2001.
  • 2001
VIEW 1 EXCERPT

RHex: A Simple and Highly Mobile Hexapod Robot

VIEW 1 EXCERPT