PECASE: Microrobot Legs for Fast Locomotion over Rough Terrain

Sarah Bergbreiter，马里兰大学帕克学院职业：在崎岖地形上快速运动的微型机器人腿这项研究的目标是创造微型机器人腿，使微型机器人能够在崎岖地形上行走，甚至奔跑。该方法是在动态仿真环境中对粘弹性微型机器人腿进行建模，并使用包括粘弹性材料在内的新型微加工工艺对这些模型进行实验验证。智力优势：这项工作的结果将导致第一个亚厘米机器人，可以在复杂的表面上快速移动，除了丰富的数据，以增强我们对昆虫运动的理解。像蟑螂这样的昆虫利用嵌在腿上的控制机制来防止它们在高速行驶时翻倒。通过使用粘弹性材料进行动态稳定性控制，这些相同的想法也可以移植到微型机器人上。具体的创新将包括微型机器人腿的参数化模型，具有定制顺应性和阻尼的人造昆虫腿，以及与执行器集成以在不同表面上测试微型机器人腿。更广泛的影响：在现实环境中以昆虫般的速度移动的微型机器人可以在自然灾害后在瓦砾中的小裂缝中搜索，在民用基础设施上提供低成本的传感器部署，并从事隐形监视。此外，类似于这些腿的坚固的粘弹性机制可以在微创手术和微制造等应用中取得突破。这项建议的教育目标是大幅增加对微型机器人研究的参与。目前，想要研究微型机器人的研究人员需要数百万美元的洁净室设施。一个开源的微型机器人程序将开发使用微型机器人原型过程，不需要进入洁净室。

Sarah Bergbreiter, University of Maryland College ParkCAREER: Microrobot Legs for Fast Locomotion over Rough TerrainABSTRACTThe objective of this research is to create microrobot legs that will enable microrobots to walk, and even run, over rough terrain. The approach is to model viscoelastic microrobot legs in a dynamic simulation environment, and to experimentally validate these models using a new microfabrication process that includes viscoelastic materials.Intellectual Merit: The results of this work will lead to the first sub-centimeter robots that can move quickly over complex surfaces, in addition to a wealth of data to enhance our understanding of insect locomotion. Insects like cockroaches use control mechanisms embedded in their legs to prevent them from tipping over at high speeds. These same ideas can be ported to microrobots by using viscoelastic materials for dynamic stability control. Specific innovations will include parameterized models for microrobot legs, fabricated artificial insect legs with tailored compliance and damping, and integration with actuators to test the microrobot legs on different surfaces. Broader Impacts: Microrobots that move through real-world environments at insect-like speeds can search through small cracks in rubble after natural disasters, provide low-cost sensor deployment over civil infrastructure, and engage in stealthy surveillance. In addition, robust, viscoelastic mechanisms similar to these legs can provide breakthroughs in applications like minimally invasive surgery and micromanufacturing. The educational objective of this proposal is to dramatically increase participation in microrobotics research. Currently, researchers who want to work on microrobots need access to multi-million dollar cleanroom facilities. An open-source microrobotics program will be developed using a microrobot prototyping process that does not require cleanroom access.