M. C. Birch, R. Quinn, G. Hahm, S. Phillips, Barry Drennan, R. Beer, Xinyu Yu, S. Garverick, S. Laksanacharoen, A. J. Pollack, R. Ritzmann
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Describes the development of an autonomous hybrid micro-robot that uses legs for propulsion and support of the rear half of the body and uses a pair of wheels for support of the front half. McKibben artificial muscles actuate the legs and the compressed air that activates the actuators is generated by an on-board power plant comprising a pair of lithium batteries powering a gear motor driven air compressor. The control is also onboard in the form of a PIC that controls the actuators through four three-way valves that each consists of a pair of MEMS devices.
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