Piezoelectrically Actuated Biomimetic Self-Contained Quadruped Bounding Robot

Ho, Thanhtam; Lee, Sang Yoon

doi:10.1016/s1672-6529(08)60099-2

Cited by 16 publications

(14 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It is quite a remarkable result since it means that the robot can move about two times its body length per second with a heavy load (110 g of the circuit board and the battery combined). Compared to our previous robot [18], the locomotion speed has been improved by more than four times.…”

Section: Experiments and Resultsmentioning

confidence: 90%

“…Since the constraints in the size and weight of robot are relatively large when using piezocomposite actuators, the importance of a simple structure is significant. Such issues were also considered in the development of our previous quadruped robot [18], which, however, had weakness in the locomotion speed and the direction control.…”

Section: Design Concept Of Robotmentioning

confidence: 99%

“…2(a) is connected directly to the upper LIPCA piece and the other terminal is at the leg toe (point B). Compared to the design of previous version [18], the motion of LIPCA is now transferred directly to the robot legs, and hence the power loss is minimized.…”

Section: Design Concept Of Robotmentioning

confidence: 99%

“…Though our previous quadruped robot is a self-contained one with a decent speed [18], it has an inevitable weak point that stems from the characteristics of bounding gait: the robot cannot change the locomotion direction. Since the motion in the ideal bounding gait is symmetric, the robot is supposed to move straight all the time.…”

Section: Direction Controlmentioning

confidence: 99%

See 3 more Smart Citations

A fast mesoscale quadruped robot using piezocomposite actuators

Lee

2012

Robotica

Self Cite

View full text Add to dashboard Cite

SUMMARYThis paper introduces the design, analysis, and experimental results of a fast mesoscale (12 cm length) quadruped mobile robot that employs unconventional actuators. Four legs of the robot are actuated by two pieces of piezocomposite actuator named LIPCA, which enables the robot to achieve the bounding gait with only one degree of freedom per leg. The forward locomotion is obtained by a creative idea in the design and the speed can be controlled by changing the frequency of actuators. The mechanism of power transfer has been improved in order to use the actuation power more efficiently. Two small RC-servo motors are added to control the locomotion direction. In addition, a small power supply and control circuit is developed that is fit for the robot. Our experiments show that the robot can locomote as fast as about two times its body length per second with the circuit board and a battery installed. The robot is also able to change the heading direction in a controlled way and is capable of continuous operation for 35 min.

show abstract

Section: Experiments and Resultsmentioning

confidence: 90%

Section: Design Concept Of Robotmentioning

confidence: 99%

Section: Design Concept Of Robotmentioning

confidence: 99%

Section: Direction Controlmentioning

confidence: 99%

See 2 more Smart Citations

A fast mesoscale quadruped robot using piezocomposite actuators

Lee

2012

Robotica

Self Cite

View full text Add to dashboard Cite

show abstract

“…Yumaryanto et al [4] and Ho et al [5] built mesoscale robots powered by Lightweight Piezoceramic Composite Actuators (LIPCA). In addition, Goldfarb et al built a robot with an elastodynamic motion scheme [6].…”

mentioning

confidence: 99%

A Duty Cycle Approach to Power Management in Self-Reliant Robots

Harris

Quint

Garcia

2012

50th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition

View full text Add to dashboard Cite

Traditional electronic devices are designed to receive power from batteries or the electrical grid. By renouncing a cumbersome power tether or frequent trips to a recharging station, a robot could operate more efficiently and in remote areas. Our goal was to build a robot that could function continuously, harvesting its energy from the environment and operating independent of human interaction. We successfully built both a wheeled and a legged platform for such a robot. Furthermore, the energy storage circuit, a solar panel, and a microprocessor were installed on the robot. Employing a duty cycle control approach, we successfully programmed the robot to function autonomously, while continuously maintaining awareness of its level of remaining charge. Once a critical level of remaining energy was reached, the robot paused to recharge, and then resumed its operations, thus making the robot self-reliant.

show abstract

Design of an shape memory alloy-actuated biomimetic mobile robot with the jumping gait

Lee

2013

Int. J. Control Autom. Syst.

View full text Add to dashboard Cite

Piezoelectrically Actuated Biomimetic Self-Contained Quadruped Bounding Robot

Cited by 16 publications

References 10 publications

A fast mesoscale quadruped robot using piezocomposite actuators

A fast mesoscale quadruped robot using piezocomposite actuators

A Duty Cycle Approach to Power Management in Self-Reliant Robots

Design of an shape memory alloy-actuated biomimetic mobile robot with the jumping gait

Contact Info

Product

Resources

About