Rudolf Yoga Hutama

A Millimeter-Scale Rolling Microrobot Driven by a Micro-Geared Ultrasonic Motor

We present a millimeter-scale rolling microrobot driven by a set of a micro ultrasonic motor and a micro planetary gear train. The micro ultrasonic motor, consisting of a metallic cube with a side length of 2 mm, can produce a torque of 60 μNm and speed exceeding 4500 rpm. By attaching a micro plane