Abstract
This paper presents a lightweight milli-scale crawling robot that can crawl on both sides, which was inspired by the movement of insects. This robot has an excellent ability to overcome obstacles, such as the narrow gaps and the rough terrain. In addition, the robot can crawl steadily and rapidly through triangular alternation, such as ants or cockroaches. The process of smart composite microstructures (SCM) was employed to make a lightweight robot structure. The SCM process replaced the conventional mechanical parts with flexure joints and composite links, which allows the weight of the robot to be reduced. In addition, the robot structure was robust against external impacts owing to the compliance of the constituent materials. Using the SCM process, the robot weighed only 32g with twelve legs in total on both sides. The robot showed a crawling speed of 0.52m/s on the front side and 0.42m/s on the backside.
| Translated title of the contribution | A Milli-Scale Double-sided Crawling Robot |
|---|---|
| Original language | Korean |
| Pages (from-to) | 356-361 |
| Number of pages | 6 |
| Journal | 한국산학기술학회논문지 |
| Volume | 21 |
| Issue number | 4 |
| DOIs | |
| State | Published - 2020 |