This research evaluates simulated walking micro-robots based on orthogonal lateral and vertical actuators, a common restriction on micro-electromechanical system (MEMS) actuation, and subject to small damping effects and certain small-scale external forces operating on robot feet. Dimensional analysis is used to identify scalable trends in a numerical simulation of a simple walking dynamics model in which lateral and vertical motion are treated as dynamically-uncoupled, the limiting case for orthogonal MEMS actuators. The results of this analysis are that the system damping significantly affects walking speed, while small-scale foot-ground interaction forces other than adhesion have significant effects only over large order-of-magnitude variation in robot size. Results are intended to serve as a design tool for walking micro-robots.
Skip Nav Destination
ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 4–7, 2013
Portland, Oregon, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5584-3
PROCEEDINGS PAPER
Dimensional Analysis of Dynamic MEMS Micro-Robotic Walking Subject to Orthogonal Actuation and Small-Scale Forces
Carlos S. Casarez,
Carlos S. Casarez
University of Maryland, College Park, MD
Search for other works by this author on:
Jeong Hoon Ryou,
Jeong Hoon Ryou
University of Michigan, Ann Arbor, MI
Search for other works by this author on:
Kenn R. Oldham
Kenn R. Oldham
University of Michigan, Ann Arbor, MI
Search for other works by this author on:
Carlos S. Casarez
University of Maryland, College Park, MD
Jeong Hoon Ryou
University of Michigan, Ann Arbor, MI
Kenn R. Oldham
University of Michigan, Ann Arbor, MI
Paper No:
DETC2013-13473, V001T09A022; 10 pages
Published Online:
February 12, 2014
Citation
Casarez, CS, Ryou, JH, & Oldham, KR. "Dimensional Analysis of Dynamic MEMS Micro-Robotic Walking Subject to Orthogonal Actuation and Small-Scale Forces." Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 1: 15th International Conference on Advanced Vehicle Technologies; 10th International Conference on Design Education; 7th International Conference on Micro- and Nanosystems. Portland, Oregon, USA. August 4–7, 2013. V001T09A022. ASME. https://doi.org/10.1115/DETC2013-13473
Download citation file:
20
Views
Related Proceedings Papers
Related Articles
Special Issue: Selected Papers From IDETC 2015
J. Mechanisms Robotics (October,2016)
Design of a Xenia Coral Robot Using a High-Stroke Compliant Linear Electromagnetic Actuator
Letters Dyn. Sys. Control (July,2021)
Handling Actuator Saturation as Underactuation: Case Study With Acroboter Service Robot
J. Comput. Nonlinear Dynam (May,2017)
Related Chapters
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution
Time-Varying Coefficient Aided MM Scheme
Robot Manipulator Redundancy Resolution
Surface Analysis and Tools
Tribology of Mechanical Systems: A Guide to Present and Future Technologies