6 accepted papers
We present an evolved steerable version of the single-tail Fish-&-Ribbon–Inspired Small Swimming Harmonic roBot (FRISSHBot), a 59-mg biologically inspired swimmer, which is driven by a new shape-memory alloy (SMA)-based bimorph actuator. The new FRISSHBot is controllable in the two-dimensional (2D)
We present the shape-memory alloy (SMA) robotic traveling insect (SMARTI), a 60-mg crawling microrobot that is driven by two 6-mg high-frequency SMA bending actuators and whose two-module configuration enables controlled differential steering and path following. During operation, the two modules are
The vision of creating entirely-soft robots capable of performing complex tasks will be accomplished only when the controllers required for autonomous operation can be fully implemented using soft components. Despite recent advances in compliant fluidic circuitry for mechanical signal processing, th
We present the design, fabrication and experimental testing of SMALLBug, a 30-mg crawling microrobot that is 13 mm in length and can locomote at actuation frequencies of up to 20 Hz. The robot is driven by an electrically-powered 6-mg bending actuator that is composed of a thin shape-memory alloy (S
We introduce Bee <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">+</sup> , a 95-mg four-winged microrobot with improved controllability and open-loop-response characteristics with respect to those exhibited by state-of-the-art two-winged microrobots wit
We present a new experimental method for the generation and real-time implementation of high-speed aerobatic maneuvers, including multiple flips, on a 19-gram autonomous quadrotor. A key element in the proposed approach is the design and experimental tuning of a gain scheduling control strategy in w