BPN959: Self-Righting for Micro Robots

Abstract: 

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. Our design currently consists of a 3-bar linkage in conjunction with an electrostatic inchworm motor. First-generation devices are in fab as of August. Hand analysis indicates that self-righting from any face should be possible within a few seconds.

 

Publication date: 
August 24, 2021
Publication type: 
BSAC Project Materials (Current)
Citation: 
PREPUBLICATION DATA - ©University of California 2021

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