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Proceedings Paper

NanoRunner: a very small wireless robot with three piezoactuated legs suited for design experimentations and validations through preprogrammed behaviors
Author(s): Sylvain M. Martel; Joshua Kaufman; Chad Helm; Timothy Fofonoff; John Bevilacka; Robert Dyer; Joseph Levine; Joanna Au; Ian Warwick Hunter
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Paper Abstract

The NanoRunner is designed to be primarily used as an experimental wireless robot in order ot quickly test and validate several hardware/software issues and ideas prior to being implemented on the more expensive and complex wireless instrumented NanoWalker robot. As such, the NanoRunner, Like the NanoWalker is based on three piezo- actuated legs forming a pyramid with the apex pointing upward. Unlike the NanoWlaker, the NanoRunner has much simpler embedded electronics and is not capable of an accuracy and computational throughput comparable to the NanoWalker. Because of its lighter weight, it can move or run much faster. Furthermore, the NanoRunner does not have a fast infrared communication infrastructure for downloading executable code. Instead the NanoRunner is first pre-programmed with a specific behavior suitable for the tasks to be performed. Nonetheless, the NanoRunner has all the required electronics to be fully autonomous while performing its experimentation tasks. Although not as sophisticated as the NanoWalker, the NanoRunner offers a smaller and simpler robot implementation for less demanding tasks. Another major motivation for the NanoRunner is to validate various ideas in order to decrease the overall size of the robot. The size is critical since our goal is to allow more robots to work within the same area. In this paper, the NanoRunner is described. Aspects such as construction, assembly, and the method used for downloading executable code in order to pre-program the robot's behavior are also covered.

Paper Details

Date Published: 11 October 2000
PDF: 8 pages
Proc. SPIE 4194, Microrobotics and Microassembly II, (11 October 2000); doi: 10.1117/12.403695
Show Author Affiliations
Sylvain M. Martel, Massachusetts Institute of Technology (United States)
Joshua Kaufman, Massachusetts Institute of Technology (United States)
Chad Helm, Massachusetts Institute of Technology (United States)
Timothy Fofonoff, Massachusetts Institute of Technology (United States)
John Bevilacka, Massachusetts Institute of Technology (United States)
Robert Dyer, Massachusetts Institute of Technology (United States)
Joseph Levine, Massachusetts Institute of Technology (United States)
Joanna Au, Massachusetts Institute of Technology (United States)
Ian Warwick Hunter, Massachusetts Institute of Technology (United States)

Published in SPIE Proceedings Vol. 4194:
Microrobotics and Microassembly II
Bradley J. Nelson; Jean-Marc Breguet, Editor(s)

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