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Model-Based Insights on the Design of a Hexapod Magnetic Walker

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Experimental Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 109))

Abstract

We present a design for a \(1\,\mathrm{cm}^3\) magnetically actuated hexapedal walking robot fabricated using an all-polymer multi-material fabrication process capable of integrating sub-mm elastomeric joints into rigid polymer links. Modeling, optimization, and experimental insights from several different leg designs were used to improve the robot performance. The fabricated robots are capable of speeds up to 10.6 body lengths per second. This work focuses on the development of models for locomotion at small-scales as well as experimental validation and input back to the model.

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Acknowledgments

This work is supported by NSF Award ECCS1055675. Thanks also to Eric Diller for early discussions around this idea.

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Authors and Affiliations

  1. Department of Mechanical Engineering, University of Maryland, College Park, 20742, USA

    Ryan St. Pierre, Dana Vogtmann & Sarah Bergbreiter

Authors
  1. Ryan St. Pierre
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  2. Dana Vogtmann
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  3. Sarah Bergbreiter
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Corresponding author

Correspondence to Ryan St. Pierre .

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Editors and Affiliations

  1. Drexel University, Philadelphia, Pennsylvania, USA

    M. Ani Hsieh

  2. Department of Computer Science, Stanford University, Stanford, California, USA

    Oussama Khatib

  3. Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, Pennsylvania, USA

    Vijay Kumar

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Pierre, R.S., Vogtmann, D., Bergbreiter, S. (2016). Model-Based Insights on the Design of a Hexapod Magnetic Walker. In: Hsieh, M., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 109. Springer, Cham. https://doi.org/10.1007/978-3-319-23778-7_47

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  • DOI: https://doi.org/10.1007/978-3-319-23778-7_47

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-23777-0

  • Online ISBN: 978-3-319-23778-7

  • eBook Packages: EngineeringEngineering (R0)

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