BPN950: Self-Righting for Micro Robots

In developing micro-robots for exploration in non-uniform terrain, it is often the case that robots fall over. This work seeks to provide a solution in the self-righting of autonomous micro- robots to overturn a 1cc, 1 gram cube microrobot with regular octahedral symmetry that has fallen on either of its four sides and overturning said microrobot once upside down. Here, a slider 3- bar linkage is used in conjunction with MEMS inchworm motors, capable of producing approx 15uN force output, to sweep the lifting arm and push the cube microrobot to be right-side-up within a few seconds (projected performance).

Project end date: 08/13/20