Development of two piezoelectrically actuated mesoscale robot quadrupeds

Michael A. Gogola; Gregory Fischer; Michael Goldfarb; Ephrahim Garcia

doi:10.1117/12.357811

18 August 1999 Development of two piezoelectrically actuated mesoscale robot quadrupeds

Michael A. Gogola, Gregory Fischer, Michael Goldfarb, Ephrahim Garcia

Proceedings Volume 3834, Microrobotics and Microassembly; (1999) https://doi.org/10.1117/12.357811
Event: Photonics East '99, 1999, Boston, MA, United States

Abstract

The design of two piezoelectrically-actuated mesoscale robot quadrupeds is described. In each design, two piezoelectric actuators are used in conjunction with multi-degree of freedom articulated legs to create elliptical leg motions necessary for rough terrain capabilities. One design incorporates inertially-decoupled five-bar linkages for legs, while the other a two degree-of-freedom spatial linkage for each leg to achieve elliptical foot motion. The five-bar design has a footprint that measures 9 cm X 6.5 cm and weighs 51 grams, and the spatial linkage design has a footprint of 9 cm X 12 cm and weighs 29 grams. Data is presented for each design that characterizes nominal speed and typical power consumption. The ability to turn left or right is provided by shifting the input frequency to emphasize different dynamic modes in the robots.

Citation Download Citation

Michael A. Gogola, Gregory Fischer, Michael Goldfarb, and Ephrahim Garcia "Development of two piezoelectrically actuated mesoscale robot quadrupeds", Proc. SPIE 3834, Microrobotics and Microassembly, (18 August 1999); https://doi.org/10.1117/12.357811

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