We present and validate a property-driven autonomous system that modifies its environment to achieve and maintain navigability over a highly irregular 3-dimensional terrain. In our approach we use decision procedures that tie building actions to the terrain model, giving rise to adaptive and robust building behavior. The building algorithm is driven by continuous evaluation and reaction to terrain properties, rather than relying on a structure blueprint. This capability is essential in robotic systems that operate in unstructured outdoor or remote environments, either on their own or as part of a team. We demonstrate the effectiveness of our approach by running a lowcost robot system that can build with compliant bags in a variety of irregular terrains.
This work presents an experimental platform for studying the locomotion of small-scale (<100 mg) legged microrobots. Robot chassis were fabricated with microscale 3D printing and embedded permanent magnets provide actuation. The design integrates a full rotational friction bearing in the hip joint, capable of actuation up to 150 Hz with no visible signs of wear after rotating at 100 Hz for over 1,000,000 cycles. The robot presented in this work weighs 1 mg and is observed running at speeds up to 37.3 mm/s (14.9 body lengths per second) providing initial insights on the dynamics of legged locomotion at ant-scales.
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