ICRA 2011 Paper Abstract

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Paper TuA202.5

Kohut, Nicholas Joseph (University of California, Berkeley), Hoover, Aaron (University of California, Berkeley), Ma, Kevin (University of California, Berkeley), Baek, Stanley (UC Berkeley), Fearing, Ronald (University of California at Berkeley)

MEDIC: A 5.5 G Legged Millirobot Utilizing Novel Body-Supported Climbing

Scheduled for presentation during the Regular Sessions "Climbing Robots" (TuA202), Tuesday, May 10, 2011, 11:05−11:20, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Climbing robots, Multi-legged Robots, Micro/Nano Robots

Abstract

This work presents the design, fabrication, capabilities, and obstacle traversal mechanics of MEDIC (Millirobot Enabled Diagnostic of Integrated Circuits), a small legged robot able to overcome a varied array of obstacles. MEDIC features a hull that keeps its body in contact with the ground at all times, and uses only four actuators to move forward, turn, mount obstacles, and move in reverse. The chassis is fabricated using a Smart Composite Microstructures (SCM) approach and the robot is actuated by coiled Shape Memory Alloy (SMA). MEDIC also features a camera which will be useful for navigation in the future.

 

 

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