A 3D-PRINTED 1 MG LEGGED MICROROBOT RUNNING AT 15 BODY LENGTHS PER SECOND

摘要

This work presents an experimental platform for studying the locomotion of small-scale (<100 mg) legged microrobots. Robot chassis were fabricated with microscale 3D printing and embedded permanent magnets provide actuation. The design integrates a full rotational friction bearing in the hip joint, capable of actuation up to 150 Hz with no visible signs of wear after rotating at 100 Hz for over 1,000,000 cycles. The robot presented in this work weighs 1 mg and is observed running at speeds up to 37.3 mm/s (14.9 body lengths per second) providing initial insights on the dynamics of legged locomotion at ant-scales.