Project Title:

A Piezoelectric, Crawling Minirobot

92-1-05.03-0402                                                    NAS07-1205
A Piezoelectric, Crawling Minirobot
Bonneville Scientific, Inc.
918 East 900 South
Salt Lake City, UT  84105
Allen R. Grahn                                       (801-359-0402)

Abstract:

     This project investigates an insect-like robot that uses
linear and rotary piezoelectric motors for actuating the limbs and
end-effectors. The piezomotors are low-mass, high-energy-density
devices that do not require transmissions to meet the speed and
torque requirements for miniature robots. Moreover, these motors
use redundant actuators which provide a degree of fail-safety, and
they have a built-in, powerful brake which consumes negligible
energy. The envisioned minirobot will have two prehensile legs
having six-degrees-of-freedom (for positioning end-effectors).
Integrated tactile and force-torque sensors can be used in guiding
and testing foot placement and detecting contact with obstacles.
When walking on smooth surfaces, the tactile sensors in the soles
of the feet can be used to determine adequate coverage of a
volatile, sticky fluid secreted through pores in the soles for
providing adhesion to the surface.

Potential Commercial Application:

Potential Commercial Applications:  Small, self-contained,
crawling robots will have a wide variety of commercial
applications, including reconnaissance during disasters
(earthquakes, building fires, explosions), surveillance, security,
inspection, sample collection, and retrieval.

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