A miniature hybrid robot propelled by legs

M. C. Birch, R. Quinn, G. Hahm, S. Phillips, Barry Drennan, R. Beer, Xinyu Yu, S. Garverick, S. Laksanacharoen, A. J. Pollack, R. Ritzmann
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引用次数: 30

Abstract

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.
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一个由腿推动的微型混合机器人
描述了一种自主混合微型机器人的开发,该机器人使用腿来推进和支撑身体的后半部,并使用一对轮子来支撑身体的前半部。McKibben人造肌肉驱动双腿,而驱动驱动器的压缩空气是由机载动力装置产生的,该装置由一对锂电池组成,为齿轮马达驱动的空气压缩机提供动力。该控制器也以PIC的形式在板载,通过四个三通阀控制执行器,每个三通阀由一对MEMS器件组成。
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