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Design and Fabrication of the Harvard Ambulatory Micro-Robot

  • Conference paper
Robotics Research

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 70))

Abstract

Here we present the design and fabrication of a 90mg hexapedal microrobot with overall footprint dimensions of 17 mm long x 23 mm wide. Utilizing smart composite microstructure fabrication techniques, we combine composite materials and polymers to form articulated structures that assemble into an eight degree of freedom robot. Using thin foil shape memory alloy actuators and inspiration from biology we demonstrate the feasibility of manufacturing a robot with insect-like morphology and gait patterns. This work is a foundational step towards the creation of an insect-scale hexapod robot which will be robust both structurally and with respect to locomotion across a wide variety of terrains.

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Author information

Authors and Affiliations

  1. School of Engineering and Applied Sciences, Harvard University, Cambridge, MA

    Andrew T. Baisch & Robert J. Wood

Authors
  1. Andrew T. Baisch
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  2. Robert J. Wood
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Editor information

Editors and Affiliations

  1. Institute of Robotics and Intelligent Systems Autonomous Systems Lab , ETH Zürich, Tannenstrasse 3, 8092, Zürich, Switzerland

    Cédric Pradalier  & Roland Siegwart  & 

  2. Institute of Robotics and Mechatronics , German Aerospace Center (DLR), Münchner Strasse 20, 82234, Oberpfaffenhofen-Wessling, Germany

    Gerhard Hirzinger

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© 2011 Springer-Verlag Berlin Heidelberg

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Baisch, A.T., Wood, R.J. (2011). Design and Fabrication of the Harvard Ambulatory Micro-Robot. In: Pradalier, C., Siegwart, R., Hirzinger, G. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 70. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19457-3_42

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  • DOI: https://doi.org/10.1007/978-3-642-19457-3_42

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-19456-6

  • Online ISBN: 978-3-642-19457-3

  • eBook Packages: EngineeringEngineering (R0)

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