一个由腿推动的微型混合机器人

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI:10.1109/IROS.2001.976274

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

摘要

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。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A miniature hybrid robot propelled by legs

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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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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