Autonomous Robots

, Volume 21, Issue 2, pp 155–163

Development of a biomimetic miniature robotic crawler

  • Arianna Menciassi
  • Dino Accoto
  • Samuele Gorini
  • Paolo Dario
Article

DOI: 10.1007/s10514-006-7846-9

Cite this article as:
Menciassi, A., Accoto, D., Gorini, S. et al. Auton Robot (2006) 21: 155. doi:10.1007/s10514-006-7846-9

Abstract

The paper presents the development of segmented artificial crawlers endowed with passive hook-shaped frictional microstructures. The goal is to find design rules for fabricating biomimetic, adaptable and mobile machines mimicking segmented animals with hydrostatic skeleton, and intended to move effectively along unstructured substrates.

The paper describes the mechanical model, the design and the fabrication of a SMA-actuated segmented microrobot, whose locomotion is inspired by the peristaltic motion of Annelids, and in particular of earthworms (Lumbricus Terrestris). Experimental locomotion performance are compared with theoretical performance predicted by a purposely developed friction model -taking into account design parameters such as number of segments, body mass, special friction enhancement appendixes—and with locomotion performance of real earthworms as presented in literature.

Experiments indicate that the maximum speed of the crawler prototype is 2.5 mm/s, and that 3-segment crawlers have almost the same velocity as earthworms having the same weight (and about 330% their length), whereas 4-segment crawlers have the same velocity, expressed as body lengths/s, as earthworms with the same mass (and about 270% their length).

Keywords

Microrobot SMA actuators Crawling Biomimetics 

Copyright information

© Springer Science+Business Media, LLC 2006

Authors and Affiliations

  • Arianna Menciassi
    • 1
    • 2
  • Dino Accoto
    • 1
  • Samuele Gorini
    • 1
  • Paolo Dario
    • 1
  1. 1.Scuola Superiore Sant'Anna, Center for Research in Microengineering—CRIM LabPisaItaly
  2. 2.Polo Sant'Anna Valdera—CRIM LabScuola Superiore Sant'AnnaPisaItaly

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