Implementation of a piezoelectrically actuated self-contained quadruped robot

Thanhtam Ho; Sangyoon Lee

doi:10.1117/12.819102

30 April 2009 Implementation of a piezoelectrically actuated self-contained quadruped robot

Thanhtam Ho, Sangyoon Lee

Proceedings Volume 7332, Unmanned Systems Technology XI; 73320E (2009) https://doi.org/10.1117/12.819102
Event: SPIE Defense, Security, and Sensing, 2009, Orlando, Florida, United States

Abstract

In this paper we present the development of a mesoscale self-contained quadruped mobile robot that employs two pieces of piezoelectric actuators for the bounding gait locomotion, i.e., two rear legs have the same movement and two front legs do too. The actuator named LIPCA (LIghtweight Piezoceramic Composite curved Actuator) is a piezocomposite actuator that uses a PZT layer that is sandwiched between composite materials of carbon/epoxy and glass/epoxy layers to amplify the displacement. A biomimetic concept is applied to the design of the robot in a simplified way, such that each leg of the robot has only one degree of freedom. Considering that LIPCA requires a high input voltage and possesses capacitive characteristics, a small power supply circuit using PICO chips is designed for the implementation of selfcontained mobile robot. The prototype with the weight of 125 gram and the length of 120 mm can locomote with the bounding gait. Experiments showed that the robot can locomote at about 50 mm/sec with the circuit on board and the operation time is about 5 minutes, which can be considered as a meaningful progress toward the goal of building an autonomous legged robot actuated by piezoelectric actuators.

Citation Download Citation

Thanhtam Ho and Sangyoon Lee "Implementation of a piezoelectrically actuated self-contained quadruped robot", Proc. SPIE 7332, Unmanned Systems Technology XI, 73320E (30 April 2009); https://doi.org/10.1117/12.819102

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