Design of centimeter-scale inchworm robots with bidirectional claws

Dongwoo Lee, Sinbae Kim, Yong-Lae Park, and Robert J. Wood
May, 2011, pp. 3197-3204.


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Abstract
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.

Notes
Number of pages: 8

Text Reference
Dongwoo Lee, Sinbae Kim, Yong-Lae Park, and Robert J. Wood, "Design of centimeter-scale inchworm robots with bidirectional claws," May, 2011, pp. 3197-3204.

BibTeX Reference
@inproceedings{Park_2011_7489,
   author = "Dongwoo Lee and Sinbae Kim and Yong-Lae Park and Robert J. Wood",
   title = "Design of centimeter-scale inchworm robots with bidirectional claws",
   booktitle = "",
   pages = "3197-3204",
   month = "May",
   year = "2011",
}