A miniature hybrid robot propelled by legs

Matthew C. Birch; Roger D. Quinn; Geon Hahm; Stephen Phillips; Barry Drennan; Randall D. Beer; Xinyu Yu; Steven L. Garverick; Sathaporn Laksanacharoen; Alan J. Pollack; Roy E. Ritzmann

A miniature hybrid robot propelled by legs

Matthew C. Birch
, Roger D. Quinn
, Geon Hahm
, Stephen Phillips
, Barry Drennan
, Randall D. Beer
, Xinyu Yu
, Steven L. Garverick
, Sathaporn Laksanacharoen
, Alan J. Pollack
, Roy E. Ritzmann

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper describes the development of an autonomous hybrid micro-robot that uses legs for propulsion and support of the rear half of the body and uses a pair of wheels for support of the front half. McKibben artificial muscles actuate the legs and the compressed air that activates the actuators is generated by an on-board power plant comprising a pair of lithium batteries powering a gear motor driven air compressor. The control is also onboard in the form of a PIC that controls the actuators through four three-way valves that each consists of a pair of MEMS devices.

Original language	English (US)
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Pages	845-851
Number of pages	7
Volume	2
State	Published - 2001
Externally published	Yes
Event	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States Duration: Oct 29 2001 → Nov 3 2001

Other

Other	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	Maui, HI
Period	10/29/01 → 11/3/01

ASJC Scopus subject areas

Control and Systems Engineering

Cite this

Birch, MC, Quinn, RD, Hahm, G, Phillips, S, Drennan, B, Beer, RD, Yu, X, Garverick, SL, Laksanacharoen, S, Pollack, AJ & Ritzmann, RE 2001, A miniature hybrid robot propelled by legs. in IEEE International Conference on Intelligent Robots and Systems. vol. 2, pp. 845-851, 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, United States, 10/29/01.

@inproceedings{9c4da0ba3a394d25a4e713c34f391b20,

title = "A miniature hybrid robot propelled by legs",

abstract = "This paper describes the development of an autonomous hybrid micro-robot that uses legs for propulsion and support of the rear half of the body and uses a pair of wheels for support of the front half. McKibben artificial muscles actuate the legs and the compressed air that activates the actuators is generated by an on-board power plant comprising a pair of lithium batteries powering a gear motor driven air compressor. The control is also onboard in the form of a PIC that controls the actuators through four three-way valves that each consists of a pair of MEMS devices.",

author = "Birch, \{Matthew C.\} and Quinn, \{Roger D.\} and Geon Hahm and Stephen Phillips and Barry Drennan and Beer, \{Randall D.\} and Xinyu Yu and Garverick, \{Steven L.\} and Sathaporn Laksanacharoen and Pollack, \{Alan J.\} and Ritzmann, \{Roy E.\}",

year = "2001",

language = "English (US)",

volume = "2",

pages = "845--851",

booktitle = "IEEE International Conference on Intelligent Robots and Systems",

note = "2001 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 29-10-2001 Through 03-11-2001",

}

TY - GEN

T1 - A miniature hybrid robot propelled by legs

AU - Birch, Matthew C.

AU - Quinn, Roger D.

AU - Hahm, Geon

AU - Phillips, Stephen

AU - Drennan, Barry

AU - Beer, Randall D.

AU - Yu, Xinyu

AU - Garverick, Steven L.

AU - Laksanacharoen, Sathaporn

AU - Pollack, Alan J.

AU - Ritzmann, Roy E.

PY - 2001

Y1 - 2001

N2 - This paper describes the development of an autonomous hybrid micro-robot that uses legs for propulsion and support of the rear half of the body and uses a pair of wheels for support of the front half. McKibben artificial muscles actuate the legs and the compressed air that activates the actuators is generated by an on-board power plant comprising a pair of lithium batteries powering a gear motor driven air compressor. The control is also onboard in the form of a PIC that controls the actuators through four three-way valves that each consists of a pair of MEMS devices.

AB - This paper describes the development of an autonomous hybrid micro-robot that uses legs for propulsion and support of the rear half of the body and uses a pair of wheels for support of the front half. McKibben artificial muscles actuate the legs and the compressed air that activates the actuators is generated by an on-board power plant comprising a pair of lithium batteries powering a gear motor driven air compressor. The control is also onboard in the form of a PIC that controls the actuators through four three-way valves that each consists of a pair of MEMS devices.

UR - https://www.scopus.com/pages/publications/0035558873

UR - https://www.scopus.com/pages/publications/0035558873#tab=citedBy

M3 - Conference contribution

AN - SCOPUS:0035558873

VL - 2

SP - 845

EP - 851

BT - IEEE International Conference on Intelligent Robots and Systems

T2 - 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 29 October 2001 through 3 November 2001

ER -

A miniature hybrid robot propelled by legs

Abstract

Other

ASJC Scopus subject areas

Other files and links

Fingerprint

Cite this