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Articles 1 - 10 of 10
Full-Text Articles in Engineering
Walking And Running On Yielding And Fluidizing Ground, Feifei Quan, Tingnan Zhang, Chen Li, Pierangelo Masarati, Aaron M. Hoover, Paul Birkmeyer, Andrew Pullin, Ronald S. Fearing, Daniel I. Goldman
Walking And Running On Yielding And Fluidizing Ground, Feifei Quan, Tingnan Zhang, Chen Li, Pierangelo Masarati, Aaron M. Hoover, Paul Birkmeyer, Andrew Pullin, Ronald S. Fearing, Daniel I. Goldman
Aaron M. Hoover
We study the detailed locomotor mechanics of a small, lightweight robot (DynaRoACH, 10 cm, 25 g) which can move on a granular substrate of closely packed 3 mm diameter glass particles at speeds up to 50 cm/s (5 body length/s), approaching the performance of small, highperforming, desert-dwelling lizards. To reveal how the robot achieves this high performance, we used high speed imaging to capture kinematics, and developed a numerical multi-body simulation of the robot coupled to an experimentally validated discrete element method (DEM) simulation of the granular media. Average forward speeds measured in both experiment and simulation agreed well, and …
Roach: An Autonomous 2.4g Crawling Hexapod Robot, Aaron Hoover, Erik Steltz, Ronald Fearing
Roach: An Autonomous 2.4g Crawling Hexapod Robot, Aaron Hoover, Erik Steltz, Ronald Fearing
Aaron M. Hoover
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 control electronics and battery, RoACH is the smallest and lightest autonomous legged robot produced to date.
Medic: A Legged Millirobot Utilizing Novel Obstacle Traversal, Nicholas Kohut, Aaron Hoover, Kevin Ma, Stanley Baek, Ronald Fearing
Medic: A Legged Millirobot Utilizing Novel Obstacle Traversal, Nicholas Kohut, Aaron Hoover, Kevin Ma, Stanley Baek, Ronald Fearing
Aaron M. Hoover
This work presents the design, fabrication, capabilities, and obstacle traversal mechanics of MEDIC (MillirobotEnabled Diagnostic of Integrated Circuits), a small legged robot able to overcome a varied array of obstacles. MEDIC features a hull that keeps its body in contact with the ground at all times, and uses only four actuators to move forward, turn, mount obstacles, and move in reverse. The chassis is fabricated using a Smart Composite Microstructures (SCM) approach and the robot is actuated by coiled Shape Memory Alloy (SMA). MEDIC also features a camera which will be useful for navigation in the future.
Systematic Study Of The Performance Of Small Robots On Controlled Laboratory Substrates, Chen Li, Aaron Hoover, Paul Birkmeyer, Paul Umbanhowar, Ronald Fearing, Daniel Goldman
Systematic Study Of The Performance Of Small Robots On Controlled Laboratory Substrates, Chen Li, Aaron Hoover, Paul Birkmeyer, Paul Umbanhowar, Ronald Fearing, Daniel Goldman
Aaron M. Hoover
The design of robots able to locomote effectively over a diversity of terrain requires detailed ground interaction models; unfortunately such models are lacking due to the complicated response of real world substrates which can yield and flow in response to loading. To advance our understanding of the relevant modeling and design issues, we conduct a comparative study of the performance of DASH and RoACH, two small, biologically inspired, six legged, lightweight (~10 cm, ~20 g) robots fabricated using the smart composite microstructure (SCM) process. We systematically examine performance of both robots on rigid and flowing substrates. Varying both ground properties …
Rapid Inversion: Running Animals And Robots Swing Like A Pendulum Under Ledges, Jean-Michel Mongeau, Brian Mcrae, Ardian Jusufi, Paul Birkmeyer, Aaron M. Hoover, Ronald Fearing, Robert J. Full
Rapid Inversion: Running Animals And Robots Swing Like A Pendulum Under Ledges, Jean-Michel Mongeau, Brian Mcrae, Ardian Jusufi, Paul Birkmeyer, Aaron M. Hoover, Ronald Fearing, Robert J. Full
Aaron M. Hoover
Escaping from predators often demands that animals rapidly negotiate complex environments. The smallest animals attain relatively fast speeds with high frequency leg cycling, wing flapping or body undulations, but absolute speeds are slow compared to larger animals. Instead, small animals benefit from the advantages of enhanced maneuverability in part due to scaling. Here, we report a novel behavior in small, legged runners that may facilitate their escape by disappearance from predators. We video recorded cockroaches and geckos rapidly running up an incline toward a ledge, digitized their motion and created a simple model to generalize the behavior. Both species ran …
Fast Scale Prototyping For Folded Millirobots, Aaron Hoover, Ronald Fearing
Fast Scale Prototyping For Folded Millirobots, Aaron Hoover, Ronald Fearing
Aaron M. Hoover
We present a set of tools and a process, making use of inexpensive and environmentally friendly materials, that enable the rapid realization of fully functional large scale prototypes of folded mobile millirobots. By mimicking the smart composite microstructure (SCM) process at a 2–10X scale using posterboard, and commonly available polymer films, we can realize a prototype design in a matter of minutes compared with days for a complicated SCM design at the small scale. The time savings enable a significantly shorter design cycle by allowing forimmediate discovery of design flaws and introduction of design improvements prior to beginning construction at …
A Rapidly Prototyped 2-Axis Positioning Stage For Microassembly Using Large Displacement Compliant Mechanisms, Aaron Hoover, Srinath Avadhanula, Richard Groff, Ronald Fearing
A Rapidly Prototyped 2-Axis Positioning Stage For Microassembly Using Large Displacement Compliant Mechanisms, Aaron Hoover, Srinath Avadhanula, Richard Groff, Ronald Fearing
Aaron M. Hoover
Compliant mechanisms provide an attractive alternative to conventional rigid mechanisms in the design of ultra low-cost precision positioning systems. The desirable performance characteristics of these mechanisms including freedom from backlash, long life, light weight, and ease of fabrication/assembly make them an ideal solution to the problem of inexpensive precision positioning for microassembly. This paper presents a design for a 2 axis precision positioning system which makes use of large displacement compliant mechanisms, a room temperature and pressure molding fabrication process, commodity hardware, and a piecewise linear interpolation compensation scheme to achieve positioning performance suitable for automated assembly of sub-centimeter robotic …
Analysis Of Off-Axis Performance Of Compliant Mechanisms With Applications To Mobile Millirobot Design, Aaron Hoover, Ronald Fearing
Analysis Of Off-Axis Performance Of Compliant Mechanisms With Applications To Mobile Millirobot Design, Aaron Hoover, Ronald Fearing
Aaron M. Hoover
We present an approach to quantifying the off-axis stiffness properties of parallel compliant mechanisms used in the design of mobile millirobots. By transforming the stiffness of individual flexure elements and rigid links comprising a compliant mechanism into a global coordinate system, we enable the formulation of an equivalent mechanism stiffness. Using that stiffness in concert with an energy-based performance metric, we predict theperformance of a compliant mechanism subjected to a prescribed set of forces in the global coordinate system. We analyze a flexure-based Sarrus linkage and use the performance metric to improve the design by adding topological redundancy. Finally, our …
Rapidly Prototyped Orthotweezers For Automated Microassembly, Aaron Hoover, Ronald Fearing
Rapidly Prototyped Orthotweezers For Automated Microassembly, Aaron Hoover, Ronald Fearing
Aaron M. Hoover
We describe the design, fabrication, and testing of an ultra-low cost orthotweezers system for microassembly. By utilizing rapid prototyping technology, compliant mechanisms, and commodity-grade actuators and sensors, we significantly reduce the complexity and cost of the previous Orthotweezers system without sacrificing functionality. With a force resolution of 0.7mN and a worst case mean positioning repeatability of 23 mum, the system is capable of dexterously manipulating rectangular parts with dimensions 200 mum times 200 mum times 100 mum. Such blocks can then be temporarily attached to thin, delicate, or oddly shaped parts to enable handling and ultimately assembly of micromechanical structures. …
Bio-Inspired Design And Dynamic Maneuverability Of A Minimally Actuated Six-Legged Robot, Aaron Hoover, Samuel Burden, Xiao-Yu Fu, S. Sastry, Ronald Fearing
Bio-Inspired Design And Dynamic Maneuverability Of A Minimally Actuated Six-Legged Robot, Aaron Hoover, Samuel Burden, Xiao-Yu Fu, S. Sastry, Ronald Fearing
Aaron M. Hoover
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 and performing dynamic turning maneuvers. Our design relies on parallel kinematic mechanisms fabricated using the scaled smart composite microstructures (SCM) process and viscoelastic polymer legs with tunable stiffness. In addition to the novel robot design, we present experimental validation of the lateral leg spring (LLS) locomotion model's prediction …