Paper
18 August 1999 Development of two piezoelectrically actuated mesoscale robot quadrupeds
Michael A. Gogola, Gregory Fischer, Michael Goldfarb, Ephrahim Garcia
Author Affiliations +
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.
© (1999) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
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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Cited by 4 scholarly publications.
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KEYWORDS
Ferroelectric materials

Prototyping

Actuators

Robotics

Kinematics

Ceramics

Gait analysis

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