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A tether-less legged piezoelectric miniature robot for bidirectional motion


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The design exploits the use of mechanical standing waves generated on the metal beam and transmitted to its legs to propel the LPMR forward and backward where the vibrations of legs are similar to the bounding gait locomotion of animals. In our proposed design, a forward and backward motion in one dimensional axis is determined by the mechanical design and placement of the legs of the LPMR, and two operating frequencies for both directions are selected by the designer as well. By simple change in the driving frequency, both forward and backward motion can be achieved.

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A tether-less legged piezoelectric miniature robot for bidirectional motion

  1. 1. The locomotion technique shown in this video is known for animals as the bounding gait locomotion which is a form of legged locomotion generally observed when a quadruped animal is running at the highest speed. Legged Robot inspired by the Bounding gait locomotion of the African Dung Beetles
  2. 2. Legged Robot inspired by the Bounding gait locomotion of the African Dung Beetles The Legged Robot lands with one leg and brings the other leg in the direction of motion to achieve one leg step on a half period T/2. Then in the next half period, the legs switch their roles for the next leg step.
  3. 3. Robot Architecture The robot consists of one piezoelectric patch, a metal beam, two rigid legs, and the various electrical components as shown.
  4. 4. Locomotion Principle The locomotion is similar to bounding gait of dung beetle. Forward and Backward motion is realized by attaching legs at appropriate location along the unimorph actuator driven at two different modal frequencies.
  5. 5. Design Principle The robot can be designed by identifying zones on the superimposed modal shapes of the unimorph actuator for legs placement • Euler Bernoulli Beam Theory • Natural Frequency • Mode Shape f1 f2
  6. 6. Design Principle f1 f2 Design Legs Location
  7. 7. Kinematics of the Legged robot The trajectory is derived for the case where the legs are positioned on the left side of the wave antinodes as shown
  8. 8. Kinematics of the Legged robot Steady state response (z-displacement) for the unimorph actuator under a sinusoidal electrical field Kinematics equations
  9. 9. Experimental verification
  10. 10. • • H. H. Hariri, G. S. Soh, S. Foong, and K. Wood, ‘’Locomotion Study of a Standing Wave Driven Piezoelectric Miniature Robot for Bi-directional Motion’’, IEEE Transaction on Robotics, 2017. • Hassan H. Hariri, Leonardus A. Prasetya, Shaohui Foong, Gim Song Soh, Kevin N. Otto and Kristin L. Wood ‘‘A Tether- less Legged Piezoelectric Miniature Robot Using Bounding Gait Locomotion for Bidirectional Motion’’, International Conference on Robotics and Automation (ICRA), May 16-21, 2016, Stockholm, Sweden. • H. Hariri, G. S. Soh, S. H. Foong, K. L. Wood, K. Otto, ‘’Miniature Piezoelectric Mobile Robot driven by Standing Wave’’, 14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, 25-30 October, 2015. References