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arXiv · 2003.03337

Scaling down an insect-size microrobot, HAMR-VI into HAMR-Jr

Kaushik Jayaram·Jennifer Shum·Samantha Castellanos·E. Farrell Helbling·Robert J. Wood
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Abstract

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.

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Kaushik Jayaram, Jennifer Shum, Samantha Castellanos, E. Farrell Helbling, Robert J. Wood. 2020-03-06. Scaling down an insect-size microrobot, HAMR-VI into HAMR-Jr. https://arxiv.org/abs/2003.03337

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