Abstract
A micro-robot with 4 DOFs is presented. An inchworm-like biped mechanical structure is selected with the advantages of small size and minimal weight. It can walk on wall as an inchworm with two different locomotion modes such as crawling and overturn. With rotation mode, this robot can change it's motion direction. The robot can also transit between different surfaces. The kinematics model of the robot has been analyzed. A digital signal processing (DSP) based embedded controller is used for minimal power consumption and efficient control. The micro-robot can move flexibly and fit complicated un-structural environment well.
| Original language | English |
|---|---|
| Pages (from-to) | 165-169 |
| Number of pages | 5 |
| Journal | High Technology Letters |
| Volume | 12 |
| Issue number | 2 |
| State | Published - Jun 2006 |
Keywords
- Digital signal processing
- Inchworm-like
- Kinematics
- Micro-robot
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