ICRA 2011 Paper Abstract


Paper WeA207.4

Lee, Dongwoo (Harvard University), Kim, Sinbae (Harvard University), Park, Yong-Lae (Harvard University), Wood, Robert (Harvard University)

Design of Centimeter-Scale Inchworm Robots with Bidirectional Claws

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots V" (WeA207), Wednesday, May 11, 2011, 10:50−11:05, Room 5B

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 July 14, 2020

Keywords Biologically-Inspired Robots, Climbing robots, Compliant Joint/Mechanism


We present the design and fabrication of centimeter scale robots, which use inchworm-like motion and bidirectional claws. Two prototypes for different locomotion goals were built utilizing these two characteristics: Type I is designed particularly for horizontal surfaces utilizing two linear actuators and compliant claws. This robot is capable of steering and straight motion by utilizing directionally anisotropic friction. Type II is a variant of Type I that is designed for locomotion on ferromagnetic ceilings or vertical planes by using permanent magnets. The Smart Composite Microstructures (SCM) technique enables versatile and multi-jointed meso-scale devices suitable for such robots.



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