Monolithic Design and Fabrication of a 2-DOF Bio-Inspired Leg Transmission

  • Daniel M. Aukes
  • Önur Ozcan
  • Robert J. Wood
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8608)


We present the design of a new two degree-of-freedom transmission intended for micro / meso-scale crawling robots which is compatible both with laminate manufacturing techniques and monolithic,“pop-up” assembly methods. This is enabled through a new design suite called “popupCAD”, a computer-aided design tool which anticipates laminate manufacturing methods with a suite of operations which simplify the existing design workflow. The design has been prototyped at three times the anticpated scale to better understand the assembly and motion kinematics, and simulated to establish the basic relationships between the actuator and end-effector transmission ratios.


Transmission Ratio Output Stage Modular Robot Kinematic Loop Actuator Input 
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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Daniel M. Aukes
    • 1
  • Önur Ozcan
    • 1
  • Robert J. Wood
    • 1
  1. 1.School of Engineering and Applied Sciences, Wyss Institute for Biologically Inspired EngineeringHarvard UniversityCambridgeUSA

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