This paper describes the kinematic analysis of two different cricket locomotion modalities, and the use of these data in a dynamic simulation to combine and simplifj, the insect's complex three-dimensional movements. The results of this simulation will then become the input to the design and control of a microrobot capable of mimicking the walking and jumping behaviors of the cricket.
This paper describes the development of an autonomous hybrid micro-robot that uses legs for propulsion and support of the rear half of the body and uses a pair of wheels for support of the front half. McKibben artificial muscles actuate the legs and the compressed air that activates the actuators is generated by an on-board power plant made up of a pair of lithium batteries powering a gear motor driven air compressor. The control is also onboard in the form of a PIC that controls the actuators through four three-way valves that each consists of a pair of MEMS devices.
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