Walking Microrobot Mechanism with an Exoskeleton
Tetsuji Dohi*, Kousuke Kishi**, Takashi Yasuda**, and Isao Shimoyama**
*Department of Engineering Synthesis, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
**Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
A walking robot, 40mm × 25mm × 15mm, with an exoskeleton like the structure of an insect has been developed. This exoskeletal mechanism consists of several copper plates and polyimide hinges, and is fabricated using a micromachining technology and a paper folding technique. The electromagnetic actuators permit the hinges of the exoskeleton to bend elastically without friction. This results in converting the vertical motion of the electromagnetic actuators into the lateral walking motion of the robot. Both the electromagnetic force of the actuators and the elastic force of the hinges are proportional to the square of the characteristic length of a robot. This means that an exoskeletal mechanism is suitable for downsizing a movable robot.
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