Picotaur:15 毫克六面体机器人,带静电驱动的 3D 打印腿

IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS
Sukjun Kim, Aaron M. Johnson, Sarah Bergbreiter
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引用次数: 0

摘要

腿部机器人的动态和敏捷运动使其能够克服障碍,并在复杂和非结构化的地形中航行。然而,在亚克级机器人中制造和集成多功能运动所需的腿部机构和致动器却具有很大的挑战性。本文介绍的 Picotaur 是一种 15.4 毫克的六面体机器人,它的腿部可实现各种运动任务,如转弯、攀爬 3D 打印楼梯和推动负载等,这在这些尺寸尺度的机器人中尚属首次。利用双光子聚合技术进行三维打印,可以在柔性印刷电路板制成的机器人身体上制造出静电驱动的双自由度腿。只需简单的控制输入,Picotaur 就能实现交替的三脚架步态,速度可达每秒 57 毫米(7.2 个体长),还能实现发音步态,以应对更多地形。这种以较小尺度制造和控制有腿机器人的方法,为机器人提供了一条前进的道路,使其可以用于从检查到探索的各种实际应用,其性能可以与具有类似大小尺度的昆虫相媲美。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Picotaur: A 15 mg Hexapedal Robot with Electrostatically Driven, 3D-Printed Legs

Picotaur: A 15 mg Hexapedal Robot with Electrostatically Driven, 3D-Printed Legs

Dynamic and agile locomotion in legged robots enables them to overcome obstacles and navigate complex and unstructured terrain. However, the leg mechanisms and actuators needed for versatile locomotion are much more challenging to manufacture and integrate in sub-gram scale robots. Herein, Picotaur, a 15.4 mg hexapedal robot with legs that enable various locomotion tasks such as turning, climbing 3D-printed stairs, and pushing loads for the first time at these size scales, is presented. 3D printing with two-photon polymerization enables the manufacture of electrostatically driven 2 degrees of freedom legs on a robot body made from a flexible printed circuit board. Based on simple control inputs, Picotaur can achieve alternating tripod gaits, reaching speeds up to 57 mm (7.2 body lengths) per second, as well as pronking gaits to tackle a wider variety of terrain. This approach to manufacturing and controlling legged robots at smaller scales provides a path forward toward robots that can be used for practical applications ranging from inspection to exploration and rival the performance of insects at similar size scales.

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CiteScore
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