A Miniature Hybrid Robot Propelled by Legs

Abstract

This paper describes the development of an autonomous hybrid micro-robot that uses legs for propulsion and support of the rear half of the body and uses a pair of wheels for support of the front half. McKibben artificial muscles actuate the legs and the compressed air that activates the actuators is generated by an on-board power plant made up of a pair of lithium batteries powering a gear motor driven air compressor. The control is also onboard in the form of a PIC that controls the actuators through four three-way valves that each consists of a pair of MEMS devices. 1