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• W1994450846 abstract "This paper presents the modeling and nonholonomic control of the ARRIpede, MEMS based crawling robot. The ARRIpede belongs to a family of sub-cm size, high precision nano positioning and nano manipulation robots currently being investigated in our lab. In its current kinematic configuration, the ARRIpede is capable of planar motions within three degrees of freedom (XYθ), occupies a total volume of 1cm3, and weighs 4.5 g, including its MEMS micromechanical joints and backpack electronics. The micromechanical components are constructed using a combination of conventional lithographical fabrication processes and automated microassembly. The microrobot is actuated using a gait sequence which multiplexes power to its leg actuators and generates incremental stick-slip motion. In order to effectively predict and control the position of the robot, the dynamical vector field generated due to the motion of the leg-array is formulated using a combination of lumped dynamic models and experimental observations. Simulations of the resulting nonholonomic model predict microcrawler velocities up to 3 mm/s under realistic assumptions, matching experimental observations. A closed-loop coarse-fine control scheme based on this model is proposed using a combination of vision and laser displacement sensors." @default.
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• W1994450846 date "2009-01-01" @default.
• W1994450846 modified "2023-09-26" @default.
• W1994450846 title "Nonholonomic Control for an Assembled Microcrawler" @default.
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• W1994450846 doi "https://doi.org/10.3182/20090909-4-jp-2010.00106" @default.
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