论文标题
将昆虫大小的微型机器人缩放到HAMR-JR中
Scaling down an insect-size microrobot, HAMR-VI into HAMR-Jr
论文作者
论文摘要
在这里，我们介绍了hamr-jr，a \ si {22.5} {\ milli \ meter}，\ si {320} {\ milli \ gram} quadrupedal microbot。据我们所知，Hamr-Jr具有八个独立驱动的自由度，在其规模上是机械机械灵活的腿部机器人，并且能够在各种横跨频率上具有高速运动（\ si {13.91} {bodylengths〜 \ second^{ - 1}}） （\ si {1} {} - \ si {200} {\ hertz}）使用多个步态。我们使用灵活的设计和制造过程实现了这一目标，从而使工作流程最小更改缩放。我们进一步表征了Hamr-Jr的开环运动，并将其与较大尺度的Hamr-VI微型机器人进行了比较，以证明缩放定律在预测跑步性能方面的有效性。
Here we present HAMR-Jr, a \SI{22.5}{\milli\meter}, \SI{320}{\milli\gram} quadrupedal microrobot. With eight independently actuated degrees of freedom, HAMR-Jr is, to our knowledge, the most mechanically dexterous legged robot at its scale and is capable of high-speed locomotion (\SI{13.91}{bodylengths~\second^{-1}}) at a variety of stride frequencies (\SI{1}{}-\SI{200}{\hertz}) using multiple gaits. We achieved this using a design and fabrication process that is flexible, allowing scaling with minimum changes to our workflow. We further characterized HAMR-Jr's open-loop locomotion and compared it with the larger scale HAMR-VI microrobot to demonstrate the effectiveness of scaling laws in predicting running performance.
