Paper Title:
A Piezoelectrically Actuated Biomimetic Walking Robot
  Abstract

In this paper we present the design and prototype of a six-legged walking robot which uses Lightweight Piezoceramic Composite curved Actuator (LIPCA) as its actuator. LIPCA consists of multiple layers of glass/epoxy and carbon/epoxy that encapsulate a unimorph piezoelectric ceramic actuator. It uses lightweight fiber-reinforced plastic layers, and it is a lighter structure and generates a higher force and a larger displacement than other conventional piezo-composite type actuators. Like most six-legged walking insects including cockroaches, our robot uses the alternating tripod gait where the front and rear legs on the same side move together with the middle leg on the other side for its locomotion. Two LIPCA strips in different phases are used for actuating each tripod so that only one tripod may touch the ground ensuring static stability while walking. All the experiments with the prototype show that LIPCA can be used as an alternative actuator for small and light mobile robots.

  Info
Periodical
Key Engineering Materials (Volumes 326-328)
Edited by
Soon-Bok Lee and Yun-Jae Kim
Pages
1435-1438
DOI
10.4028/www.scientific.net/KEM.326-328.1435
Citation
A. A. Yumaryanto, J. B. An, L. L. Xin, "A Piezoelectrically Actuated Biomimetic Walking Robot", Key Engineering Materials, Vols. 326-328, pp. 1435-1438, 2006
Online since
December 2006
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Price
$32.00
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