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Proceedings Paper

Maneuverability and mobility in palm-sized legged robots
Author(s): Nicholas J. Kohut; Paul M. Birkmeyer; Kevin C. Peterson; Ronald S. Fearing
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Paper Abstract

Palm sized legged robots show promise for military and civilian applications, including exploration of hazardous or difficult to reach places, search and rescue, espionage, and battlefield reconnaissance. However, they also face many technical obstacles, including- but not limited to- actuator performance, weight constraints, processing power, and power density. This paper presents an overview of several robots from the Biomimetic Millisystems Laboratory at UC Berkeley, including the OctoRoACH, a steerable, running legged robot capable of basic navigation and equipped with a camera and active tail; CLASH, a dynamic climbing robot; and BOLT, a hybrid crawling and flying robot. The paper also discusses, and presents some preliminary solutions to, the technical obstacles listed above plus issues such as robustness to unstructured environments, limited sensing and communication bandwidths, and system integration.

Paper Details

Date Published: 3 May 2012
PDF: 9 pages
Proc. SPIE 8373, Micro- and Nanotechnology Sensors, Systems, and Applications IV, 83731I (3 May 2012); doi: 10.1117/12.917874
Show Author Affiliations
Nicholas J. Kohut, Univ. of California, Berkeley (United States)
Paul M. Birkmeyer, Univ. of California, Berkeley (United States)
Kevin C. Peterson, Univ. of California, Berkeley (United States)
Ronald S. Fearing, Univ. of California, Berkeley (United States)


Published in SPIE Proceedings Vol. 8373:
Micro- and Nanotechnology Sensors, Systems, and Applications IV
Thomas George; M. Saif Islam; Achyut Dutta, Editor(s)

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