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Proceedings Paper

Development of two piezoelectrically actuated mesoscale robot quadrupeds
Author(s): Michael A. Gogola; Gregory Fischer; Michael Goldfarb; Ephrahim Garcia
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Paper 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.

Paper Details

Date Published: 18 August 1999
PDF: 9 pages
Proc. SPIE 3834, Microrobotics and Microassembly, (18 August 1999); doi: 10.1117/12.357811
Show Author Affiliations
Michael A. Gogola, Vanderbilt Univ. (United States)
Gregory Fischer, Vanderbilt Univ. (United States)
Michael Goldfarb, Vanderbilt Univ. (United States)
Ephrahim Garcia, DARPA (United States)

Published in SPIE Proceedings Vol. 3834:
Microrobotics and Microassembly
Bradley J. Nelson; Jean-Marc Breguet, Editor(s)

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