Scaling down an insect-size microrobot, HAMR-VI into HAMR-Jr

03/06/2020

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by   Kaushik Jayaram, et al.

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Here we present HAMR-Jr, a 22.5, 320 quadrupedal microrobot. With eight independently actuated degrees of freedom, HAMR-Jr is, to our knowledge, the most mechanically dexterous legged robot at its scale and is capable of high-speed locomotion (13.91bodylengths ^-1) at a variety of stride frequencies (1-200) using multiple gaits. We achieved this using a design and fabrication process that is flexible, allowing scaling with minimum changes to our workflow. We further characterized HAMR-Jr's open-loop locomotion and compared it with the larger scale HAMR-VI microrobot to demonstrate the effectiveness of scaling laws in predicting running performance.