0

Full Content is available to subscribers

Subscribe/Learn More  >

Simulation Study and Experimental Testing of Foot-Terrain Dynamics in Piezoelectric Micro-Robots

[+] Author Affiliations
Jeong Hoon Ryou, Kenn Oldham

University of Michigan, Ann Arbor, MI

Paper No. DSCC2010-4138, pp. 97-104; 8 pages
doi:10.1115/DSCC2010-4138
From:
  • ASME 2010 Dynamic Systems and Control Conference
  • ASME 2010 Dynamic Systems and Control Conference, Volume 2
  • Cambridge, Massachusetts, USA, September 12–15, 2010
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4418-2 | eISBN: 978-0-7918-3884-6
  • Copyright © 2010 by ASME

abstract

In micro-scale environment, contact forces such as adhesion and electrostatic forces, which are generally assumed to be negligible in general macro scale devices, affect the motions of MEMS devices significantly. This paper is an initial exploration of how such forces might influence the locomotion of multi-legged micro-robots, by matching the analytical dynamic simulations to the result from experiments on micro devices including a simple micro-cantilever beam and a bulk piezoelectrically-actuated micro-robotic prototype. Results imply that foot-terrain impacts focusing on primary effects related to electrostatic forces, adhesion forces, and an appropriate coefficient of restitution can provide a reasonable model of micro-scale behavior of a robotic foot.

Copyright © 2010 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In