Here we present HAMR-Jr, a \SI{22.5}{\milli\meter}, \SI{320}{\milli\gram} quadrupedal microrobot. With eight independently actuated degrees of freedom, HAMR-Jr is, to our knowledge, the most mechanically dexterous legged robot at its scale and is capable of high-speed locomotion (\SI{13.91}{bodylengths~\second^{-1}}) at a variety of stride frequencies (\SI{1}{}-\SI{200}{\hertz}) using multiple gaits. We achieved this using a design and fabrication process that is flexible, allowing scaling with minimum changes to our workflow. We further characterized HAMR-Jr's open-loop locomotion and compared it with the larger scale HAMR-VI microrobot to demonstrate the effectiveness of scaling laws in predicting running performance.
@article{arxiv.2003.03337,
title = {Scaling down an insect-size microrobot, HAMR-VI into HAMR-Jr},
author = {Kaushik Jayaram and Jennifer Shum and Samantha Castellanos and E. Farrell Helbling and Robert J. Wood},
journal= {arXiv preprint arXiv:2003.03337},
year = {2020}
}
Comments
IEEE International Conference on Robotics and Automation 2020 (accepted)