Myriapod-like ambulation of a segmented microrobot

Hoffman, Katie L.; Wood, Robert J.

doi:10.1007/s10514-011-9233-4

Cited by 61 publications

(31 citation statements)

References 18 publications

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“…Therefore, our measuring device can be applied far beyond the field of insect biomechanics. For example, the force plate could be invaluable to the design and testing of the next generation of micro-robots (Hoffman and Wood, 2011;Ozcan et al, 2013). Although in the planning phase we went to great lengths to reach low crosstalk between the individual force components, the crosstalk effect was still present.…”

Section: Discussionmentioning

confidence: 99%

Ultra miniature force plate for measuring triaxial forces in the micro newton range

Reinhardt

Blickhan

2013

Journal of Experimental Biology

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Measuring the ground reaction forces of a single leg is indispensable to understanding the dynamics of legged locomotion. Because of the technical state of the art, investigations are limited to animals with a body mass above 1 g. Here we present the design, fabrication, calibration and performance of a novel ultra-miniature force platform at the micronewton level. The sensor was built using the stereolithography technology and is equipped with semiconductor strain gauges. We found a highly linear signal response in the calibrated force range to ±1300 μN. Individual tests revealed that our force plate still shows a linear response at forces as great as 4 mN, confirming a large measuring range and particular robustness. The sensitivity was above 50 V N −1 in all directions, which makes it possible to resolve forces of 10 μN. We demonstrated the suitability of the device on the basis of a typical ground reaction force measurement of an ant, Formica polyctena.

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Section: Discussionmentioning

confidence: 99%

Ultra miniature force plate for measuring triaxial forces in the micro newton range

Reinhardt

Blickhan

2013

Journal of Experimental Biology

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“…[3][4] The applications of microrobotics, including micro pipe robots, micro air vehicles, and micro underwater robots, among others, have been utilized in many fields. They have advantages that human beings cannot match, thereby enabling these machines to play a huge role in environmental monitoring, 5 geological exploration, 6 personnel rescue, 7 and agricultural production. 8 One of the major challenges in developing a microrobot is achieving motion using limited power supply.…”

Section: Introductionmentioning

confidence: 99%

Piezoelectric transformer-based high conversion ratio interface for driving dielectric actuator in microrobotic applications

Chen

Liu

Lin

et al. 2016

International Journal of Advanced Robotic Systems

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Dielectric actuators are utilized to convert electrical power into mechanical strain with considerable potential in microrobotic applications. However, critical challenges that need to be addressed include high-voltage interface with high conversion ratio, light weight, small size, and high power density. This study proposes a high piezoelectric transformerbased high conversion ratio interface that is integrated with a direct current/direct current high conversion ratio boost stage and a direct current/alternating current high-voltage driving stage. A piezoelectric transformer-based class-E zero voltage switching direct current/direct current interface is controlled by a hybrid pulse frequency modulation and pulse width modulation control strategies to obtain the desired high step-up ratio in the direct current/direct current stage. A half-bridge converter with special digital control algorithm in the direct current/alternating current stage is designed to convert high direct current voltage into arbitrary unipolar signal driving dielectric actuators. A prototype 23.3 g and 4 W interface has been fabricated for experimental validation to verify its ability to drive a 1 kV input dielectric actuator at 5 Hz in microrobotic applications.

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“…By co-operation of these micro robots, the pick and place operation of robotic micro assembly is executed. Hoffman et al [21] have developed a myriapod-like ambulation based segmented micro robot with flexible backbone whereas Tamadazte et al [22] have developed 4-DOF MEMS based micro prehensile system based on piezoelectric actuators. Wang et al [23] have focused on design, modeling, and experimental testing of a piezoelectric-driven micro gripper making use of both the integrated gripping force sensor and integrated tip displacement sensor.…”

Section: Introductionmentioning

confidence: 99%

Robotic micro assembly by compliant piezoelectric micro grippers in multi mobile micro manipulation system

Jain

Majumder

Ghosh

et al. 2015

Proceedings of the 2015 Conference on Advances in Robotics

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In order to attempt on multiple robotic micro assemblies of miniature parts, the handling and grasping are the critical parameters while designing the micro manipulation system (MMS). In this paper, a novel design of multi mobile MMS is proposed where handling and grasping are performed using compliant bimorphs piezoelectric micro grippers. These grippers provide self adjustment of peg misalignment during pick and place and peg-in-hole assembly where the bimorphs piezoelectric actuator has bi-directional actuation capability during handling for a long time as well as high force generation capability for grasping. The analysis of mobile MMS and piezoelectric micro gripper are carried out which provides the precise positioning of object during robotic micro assembly. By developing a prototype, it is demonstrated that compliant piezoelectric micro grippers are capable of handling different objects and simultaneously attempt the multiple robotic micro assembly in a large work space.

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Myriapod-like ambulation of a segmented microrobot

Cited by 61 publications

References 18 publications

Ultra miniature force plate for measuring triaxial forces in the micro newton range

Ultra miniature force plate for measuring triaxial forces in the micro newton range

Piezoelectric transformer-based high conversion ratio interface for driving dielectric actuator in microrobotic applications

Robotic micro assembly by compliant piezoelectric micro grippers in multi mobile micro manipulation system

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