Steering SailRoACH (Oct. 2013)
uses aerodynamic forces on its tail to turn, achieving at 1.2 meter
radius turn while running at 1.6 meters per second. Scaling laws work
favorably for this turning mode for fast running small robots. Kohut et
al. (IEEE IROS Nov. 2013)
A Sprawl Tuned Autonomous Robot
This robot has a variable leg
sprawl angle in the transverse plane to adapt its stiffness,
height, and leg-to-surface contact angle.
Contact angle and normal contact forces are
substantially reduced when the sprawl angle is low, and the
velocity increases over smooth surfaces, with stable running at
all velocities up to 5.2 m/s.
Zarrouk et al. ICRA 2013.
Animal-inspired Design and Aerodynamic Stabilization of a Hexapedal Millirobot
The VelociRoACH is a 10 cm long, 30 gram
hexapedal millirobot capable of running at 2.7 m/s, making
it the fastest legged robot built to date, relative to scale.
Dynamic similarity technique combined with aerodynamic damping
provides stability at high speeds.
D. Haldane et al. IEEE ICRA 2013.
|Dynamic Climbing of Smooth
of near-vertical surfaces introduces reaction
forces which require greater normal adhesion to
prevent falling. Dynamic
climbing on a 30 degree slope succeeds at 12 Hz
leg rate, but only 4 Hz on a 70 degree
Gillies, Fearing IROS Oct 2012
|6 legged TAYLRoACH (July 2012)
The 100-mm scale
Hexapedal robot TAYLRoACH
can rapidly maneuver with 90 degrees turns while running.
Kohut et al. CLAWAR, Baltimore, July 2012.
Tail Maneuver movie
|OctoRoACH with Tail (May 2012)
The 100-mm scale
OctoRoACH robot can turn using differential drive at 100 degrees per
second, or with a dynamic tail with peak turn rates of 400 degrees per
Pullin et al. ICRA
Assisted Running (Oct. 2011)
DASH+Wings is a
hexapedal winged robot that uses flapping wings to
increase its ground
locomotion capabilities. The wings increase
climbing slopes and
stability, but do not provide enough thrust for
running robot and implications for avian flight
OctoRoACH:Dual Drive MilliRobot (Sep. 2011)
The OctoRoACH robot has a
mass of less than 30 grams, and includes
the ImageProc CPU with gyro, accelerometer, radio and camera, is
capable of locomotion in rough surfaces. Robot designed by A. Pullin.
Pullin et al. ICRA
Climbing loose vertical cloth (Sep. 2011)
The CLASH robot has a
mass of 15 grams, and is capable of climbing a loose cloth surface at
15 cm per second using a simple passive claw mechanism and a coupled
in-plane leg drive system. (Birkmeyer et al. IROS 2011)
|MEDIC Millirobot with
The Medic robot has a
mass of 5.5 grams, and is capable of positioning within
1 mm using static SMA drive. The robot includes camera and wireless.
(Kohut et al. ICRA 2011.)
|Dynamic turning by
modulating leg stiffness
The dynaRoACH robot has
mass of 24 grams and is capable of running at 14
body lengths per second. By changing leg stiffness, the robot can
execute a 90 degrees turn in 5 leg strides. BioRob 2010
motion) Movie (real time)
|RoACH 2.0 and DASH on
Granular Media (Apr. 2010)
Joint work with Goldman
lab at GeorgiaTech to measure cost-of-transport on granular media shows
5-30 J/kg-m at 6-10 body lengths per second. SPIE 2010
DASH 16 gram Hexapedal
Robot (Oct. 2009)
Using compliant fiber board as
structural material, and a single main driver motor, the DASH robot is
capable of 15 body lengths per second on flat surfaces. The structure
is resilient and survives ground impact at terminal velocity of
meters per second.
DASH: A Dynamic 15g Hexapedal Robot, IROS 2009.
The RoACH Robot
the Biomimetic Millisystems Lab we have combined our expertise in
building millirobots with an interest in legged systems to build what
we believe is the smallest untethered, legged robot to date - a 2.5
gram legged robot called the Robotic Autonomous
(RoACH). This robot makes use of the Smart Composite
Microstructures fabrication process
and integrated shape memory alloy (SMA) wire actuators. All power,
control, and communication electronics are carried onboard and the
entire robot is powered with a 20maHr Lithium-polymer battery from the
Full River corporation.
Scaled prototyping of a legged millirobots
materials, it's possible to create folded prototypes of legged robots
with as many as 60 joints in about 1 hour. The prototypes can then be
actuated with DC motors or other types of actuators such as shape
memory alloy wire as shown in the photo to the right. Folding Prototyping
prototyping for folded millirobots, ICRA 2008