RoACH: An autonomous 2.4g crawling hexapod robot

作者：Aaron M. Hoover, E. Steltz, Ronald S. Fearing · 年份：2008 · DOI：10.1109/iros.2008.4651149 · 被引用次数：212 · 研究领域：Robotic Locomotion and Control、Modular Robots and Swarm Intelligence、Prosthetics and Rehabilitation Robotics

This work presents the design, fabrication, and testing of a novel hexapedal walking millirobot using only two actuators. Fabricated from S2-glass reinforced composites and flexible polymer hinges using the smart composite microstructures (SCM) process, the robot is capable of speeds up to 1 body length/sec or approximately 3 cm/s. All power and control electronics are onboard and remote commands are enabled by an IrDA link. Actuation is provided by shape memory alloy wire. At 2.4 g including control electronics and battery, RoACH is the smallest and lightest autonomous legged robot produced to date.