Kavli Affiliate: Robert J. Wood
| First 5 Authors: Kaushik Jayaram, Jennifer Shum, Samantha Castellanos, E. Farrell Helbling, Robert J. Wood
| Summary:
Here we present HAMR-Jr, a SI{22.5}{millimeter}, SI{320}{milligram}
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
(SI{13.91}{bodylengths~second^{-1}}) at a variety of stride frequencies
(SI{1}{}-SI{200}{hertz}) 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.
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