Inverted and vertical climbing of a quadrupedal microrobot using electroadhesion

Rivaz, S. de; Goldberg, Benjamin; Doshi, Neel; Jayaram, Kaushik; Zhou, Jack G.; Wood, Robert J.

doi:10.1126/scirobotics.aau3038

Cited by 129 publications

(101 citation statements)

References 52 publications

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“…This can automate the challenging task of designing appropriate leg trajectories for a complex legged system and result in better locomotion performance. Finally, we can use this controller to ensure accurate tracking of the leg trajectories during a variety of locomotion modalities including swimming [110] or climbing [111] with HAMR.…”

Section: Discussionmentioning

confidence: 99%

Effective locomotion at multiple stride frequencies using proprioceptive feedback on a legged microrobot

et al. 2019

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Limitations in actuation, sensing, and computation have forced small legged robots to rely on carefully tuned, mechanically mediated leg trajectories for effective locomotion. Recent advances in manufacturing, however, have enabled the development of small legged robots capable of operation at multiple stride frequencies using multi-degree-of-freedom leg trajectories. Proprioceptive sensing and control is key to extending the capabilities of these robots to a broad range of operating conditions. In this work, we use concomitant sensing for piezoelectric actuation with a computationally efficient framework for estimation and control of leg trajectories on a quadrupedal microrobot. We demonstrate accurate position estimation (<16 % root-mean-square error) and control (<16 % root-mean-square tracking error) during locomotion across a wide range of stride frequencies (10 Hz to 50 Hz). This capability enables the exploration of two blue bioinspired parametric leg trajectories designed to reduce leg slip and increase locomotion performance (e.g., speed, cost-of-transport, etc.). Using this approach, we demonstrate high performance locomotion at stride frequencies of (10 Hz to 30 Hz) where the robot's natural dynamics result in poor open-loop locomotion. Furthermore, we validate the biological hypotheses that inspired the our trajectories and identify regions of highly dynamic locomotion, low cost-oftransport (3.33), and minimal leg slippage (< 10 %).

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Section: Discussionmentioning

confidence: 99%

Effective locomotion at multiple stride frequencies using proprioceptive feedback on a legged microrobot

et al. 2019

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“…6. Resultant EA pads can be categorized into rigid (the EA pad is not bendable and stretchable) [3], [14], flexible (the EA pad is bendable but not stretchable) [6]- [8], [12], [59], and stretchable (the EA pad is bendable and stretchable) [17], [27], [28] forms.…”

Section: B Ea Pad Fabrication Methodsmentioning

confidence: 99%

“…Other complex fabrication methods, combining two or three additive and subtractive techniques, have also been used to manufacture miniature and high-resolution EA pads. Graule et al [12] and Rivaz et al [59] utilized electrode sputter deposition through a laser machined mask followed by a dielectric chemical vapor deposition. Zhang and Follmer [79] applied laser ablation to remove unwanted customized deposited electrode area, followed by a dielectric film lamination.…”

Section: B Ea Pad Fabrication Methodsmentioning

confidence: 99%

“…Electrode geometries or patterns can be categorized into symmetrical and nonsymmetrical designs. Symmetrical electrode patterns include concentric [6], [12], [38], [58], [59] and spiral [58] designs that can output more uniform EA forces than nonsymmetrical electrode patterns such as two-electrode [54] and interdigital or comb [7], [16], [33], [52] designs. The most common EA electrode pattern used in the EA community has been the comb pattern which can be regarded a periodic series of opposite-polarity electrode pairs.…”

Section: A Ea Pad Designsmentioning

confidence: 99%

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Electroadhesion Technologies for Robotics: A Comprehensive Review

2020

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Electroadhesion (EA) is an electrically controllable adhesion mechanism that has been studied and used in fields including active adhesion and attachment, robotic gripping, robotic crawling and climbing, and haptics, for over a century. This is because EA technologies, compared to other existing adhesion solutions, facilitate systems with enhanced adaptability (EA is effective on a wide of range of materials and surfaces), reduced system complexity (EA systems are both mechanically and electrically simpler), low energy consumption, and less-damaging to materials (EA, combined with soft materials, can be used to lift delicate objects). In this survey, we comprehensively detail the working principle, modeling, design, fabrication, characterization, and applications of EA technologies employed in robotics, aiming to provide guidance and offer potential insights for future EA researchers and applicants. Joint and collaborative efforts are still required to promote the in-depth understanding and mature employment of this promising adhesion and gripping technology in various robotic applications.

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“…Wood and co‐workers commonly utilize bimorph piezoelectric elements to realize complex motion, including flight (linear, bending, rotary) 120. Demonstrations include climbing microrobots (Figure 6e),121 microaerial vehicles, high speed microrobots such as the Harvard Ambulatory MicroRobot (HAMR‐VP) (Figure 6f),122 insect robots123 such as the centipede‐inspired robot in Figure 6g,124 proprioceptive, high speed quadrupedal robots (Figure 6h),125 and mini resonant ambulatory robots 106,118,126,127. The piezoelectric actuators in the HAMR, the centipede, and the RoboBee (Figure 6i–k) are composite laminates of two piezoelectric ceramic layers (PZT‐5H) with nickel electrodes bonded to a central conductive carbon fiber layer tipped with aluminum 5,123.…”

Section: Piezoelectric Ceramics Polymers and Compositesmentioning

confidence: 99%

Materials as Machines

2020

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of responsive materials as machines is in robotics. The vision, leadership, and research of Bar-Cohen is seminal in both invigorating and focusing current-day research activities to develop responsive materials [2] and implement [3] them as lightweight, dexterous, and gentle (e.g., soft) robotic elements. In this spirit, this review exhaustively details the materials, the nature of their stimuli-response, and discusses considerations for their implementation in robotic systems and subsystems.Robotics is a well-established but growing field of research. Sustained progress in both performance and functionality continue to be realized in commercial robotic systems largely based on conventional materials and their integration with mechanisms. A recent example is the Atlas robot from Boston Dynamics [4] (Figure 1a). The incorporation of stimuli-responsive materials in robotics has largely focused on component-level demonstrations to extend the performance of a subsystem (such as a hand or gripper).Stimuli-responsive materials, spanning nearly all classes of materials and size scales, are currently subject to widespread examination in corporate, government, and academic research laboratories (Figure 1b-d). [5][6][7] In some cases, these materials have already found widespread commercial implementation in end use and are comparatively mature. The materials and fundamentals of their responses are summarized in Figure 2. Shape memory alloys (SMAs) and ceramic piezoelectric materials are distinctive in that they are hard, stimuli-responsive materials. Deformation of these materials can produce large energy densities due to their inherent stiffness. Electroactive polymers (EAPs) remain a topic of considerable interest, particularly dielectric elastomer actuators (DEAs). Engineered systems are rapidly emerging and enabling performance gains in robotics, largely based on pneumatic or fluidic (such as HASEL [8] actuators) transport processes that localize deformation to generate force or produce motion. Soft materials, such as shape memory polymers (SMPs), hydrogels, and liquid crystalline polymer networks (LCNs) and elastomers (LCEs) may offer distinctive functional performance to robotic systems in allowing local control of deformation without the need for complex interfacing with mechanisms. As will be evident, each of these materials has inherent advantages and performance tradeoffs that must be considered in functional implementations. However, responsive material systems have a common obstacle to widespread use: the performance and Machines are systems that harness input power to extend or advance function. Fundamentally, machines are based on the integration of materials with mechanisms to accomplish tasks-such as generating motion or lifting an object. An emerging research paradigm is the design, synthesis, and integration of responsive materials within or as machines. Herein, a particular focus is the integration of responsive materials to enable robotic (machine) functions such as gripping, lifting, or motility (walk...

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Inverted and vertical climbing of a quadrupedal microrobot using electroadhesion

Cited by 129 publications

References 52 publications

Effective locomotion at multiple stride frequencies using proprioceptive feedback on a legged microrobot

Effective locomotion at multiple stride frequencies using proprioceptive feedback on a legged microrobot

Electroadhesion Technologies for Robotics: A Comprehensive Review

Materials as Machines

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