BPN959: 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. 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.

Project ended 08/24/2022 

Publication date: 
March 4, 2022
Publication type: 
BSAC Project Materials (Final/Archive)
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