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Foot-Terrain Interaction for a Prototype Silicon Micro-Robot

[+] Author Affiliations
Jeong Hoon Ryou, Kenn Oldham

University of Michigan, Ann Arbor, MI

Paper No. DSCC2011-6162, pp. 103-110; 8 pages
doi:10.1115/DSCC2011-6162
From:
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5476-1
  • Copyright © 2011 by ASME

abstract

Research on dynamics of micro devices indicates that contact forces are complex in a micro-scale environment. Previous work tried to identify how small-scale forces numerically affect a walking micro system, using a similar structure to a micro-robot leg and a simple analytical model for system dynamics. This paper extends that work by focusing on further experimental testing and simulation studies on a prototype micro-robot. Evaluation of experimental data indicates that characteristics of the ground, such as material properties and static charge on the surface should be also considered in understanding foot-terrain interaction. This leads to modifications to the former foot-terrain interaction algorithm. The refined analytical model is validated through experimental comparison.

Copyright © 2011 by ASME

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