Insect-scale jumping robots enabled by a dynamic buckling cascade.
Sign Up to like & getrecommendations! Published in 2023 at "Proceedings of the National Academy of Sciences of the United States of America"
DOI: 10.1073/pnas.2210651120
Abstract: Millions of years of evolution have allowed animals to develop unusual locomotion capabilities. A striking example is the legless-jumping of click beetles and trap-jaw ants, which jump more than 10 times their body length. Their… read more here.
Keywords: insect scale; cascade; energy; dynamic buckling ... See more keywords
Power Autonomy and Agility Control of an Untethered Insect-Scale Soft Robot.
Sign Up to like & getrecommendations! Published in 2023 at "Soft robotics"
DOI: 10.1089/soro.2021.0201
Abstract: It is still challenging to achieve agility and trajectory control for untethered soft robots on an insect scale given their low mechanical impedance and compact structures. In this study, fast translational movements and swift turning… read more here.
Keywords: insect scale; control untethered; agility; control ... See more keywords
Complex Three-Dimensional Terrains Traversal of Insect-Scale Soft Robot.
Sign Up to like & getrecommendations! Published in 2022 at "Soft robotics"
DOI: 10.1089/soro.2022.0073
Abstract: This article proposes a piezoelectric-driven insect-scale soft robot with ring-like curved legs, enabling it to traverse complex three-dimensional (3D) terrain only by body-terrain mechanical action. Relying on the repeated deformation of the main body's n… read more here.
Keywords: insect scale; soft robot; robot; three dimensional ... See more keywords
A Fully Integrated Battery-Powered System-on-Chip in 40-nm CMOS for Closed-Loop Control of Insect-Scale Pico-Aerial Vehicle
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Journal of Solid-State Circuits"
DOI: 10.1109/jssc.2017.2705170
Abstract: We demonstrate a fully integrated system-on-chip (SoC) optimized for insect-scale flapping-wing pico-aerial vehicles. The SoC is able to meet the stringent weight, power, and real-time performance demands of autonomous flight for a bee-sized robot. The… read more here.
Keywords: fully integrated; system; insect scale; pico aerial ... See more keywords
Power and Control Autonomy for High-Speed Locomotion With an Insect-Scale Legged Robot
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2018.2793355
Abstract: We present a power and control autonomous, insect-scale legged robot the Harvard Ambulatory MicroRobot with RF communication (HAMR-F). At only 2.8 g and 4.5 cm in length, HAMR-F is capable of locomotion at speeds up to 17.2 cm/s… read more here.
Keywords: insect scale; legged robot; power; power control ... See more keywords
S2worm: A Fast-Moving Untethered Insect-Scale Robot With 2-DoF Transmission Mechanism
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3176435
Abstract: Designing terrestrial insect-scale robot with high maneuverability and autonomy is becoming an essential challenge in the field of robotics research. Previous work has indicated that compact transmission and integrated control devices can improve the application… read more here.
Keywords: insect scale; s2worm; scale robot; transmission ... See more keywords
Caterpillar-Inspired Insect-Scale Climbing Robot Using Dry Adhesives
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3183897
Abstract: Surface-to-surface transitions, vertical and inverted locomotion, and high payload capacity are important requirements for a climbing robot. Despite many previous approaches, the miniaturization of climbing robots that satisfy these requirements is still a big challenge.… read more here.
Keywords: insect scale; climbing robot; caterpillar inspired; surface ... See more keywords
Insect-Scale SMAW-Based Soft Robot With Crawling, Jumping, and Loading Locomotion
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3190621
Abstract: The work develops an insect-scale soft robot capable of fast directional locomotion actuated by itself spring-like body composed of shape memory alloy wires (SMAWs)-based composite. The soft composite is fabricated integrating polydimethylsiloxane (PDMS) matrix, 3D… read more here.
Keywords: locomotion; insect scale; soft robot; tex math ... See more keywords
Collision Resilient Insect-Scale Soft-Actuated Aerial Robots With High Agility
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2021.3053647
Abstract: Flying insects are remarkably agile and robust. As they fly through cluttered natural environments, they can demonstrate aggressive acrobatic maneuvers such as backflip, rapid escape, and in-flight collision recovery. Current state-of-the-art subgram microaerial-vehicles (MAVs) are… read more here.
Keywords: collision; flight; collision resilient; insect scale ... See more keywords
Ultralow-Power Localization of Insect-Scale Drones: Interplay of Probabilistic Filtering and Compute-in-Memory
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Very Large Scale Integration (VLSI) Systems"
DOI: 10.1109/tvlsi.2021.3100252
Abstract: We propose a novel compute-in-memory (CIM)-based ultralow-power framework for probabilistic localization of insect-scale drones. Localization is a critical subroutine for path planning and rotor control in drones, where a drone is required to continuously estimate… read more here.
Keywords: insect scale; localization; localization insect; power ... See more keywords