Research on dynamics of micro devices indicates that contact forces are complex in a micro-scale environment. Previous work tried to identify how small-scale forces numerically affect a walking micro system, using a similar structure to a micro-robot leg and a simple analytical model for system dynamics. This paper extends that work by focusing on further experimental testing and simulation studies on a prototype micro-robot. Evaluation of experimental data indicates that characteristics of the ground, such as material properties and static charge on the surface should be also considered in understanding foot-terrain interaction. This leads to modifications to the former foot-terrain interaction algorithm. The refined analytical model is validated through experimental comparison.
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ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
October 31–November 2, 2011
Arlington, Virginia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5476-1
PROCEEDINGS PAPER
Foot-Terrain Interaction for a Prototype Silicon Micro-Robot
Jeong Hoon Ryou,
Jeong Hoon Ryou
University of Michigan, Ann Arbor, MI
Search for other works by this author on:
Kenn Oldham
Kenn Oldham
University of Michigan, Ann Arbor, MI
Search for other works by this author on:
Jeong Hoon Ryou
University of Michigan, Ann Arbor, MI
Kenn Oldham
University of Michigan, Ann Arbor, MI
Paper No:
DSCC2011-6162, pp. 103-110; 8 pages
Published Online:
May 5, 2012
Citation
Ryou, JH, & Oldham, K. "Foot-Terrain Interaction for a Prototype Silicon Micro-Robot." Proceedings of the ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2. Arlington, Virginia, USA. October 31–November 2, 2011. pp. 103-110. ASME. https://doi.org/10.1115/DSCC2011-6162
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