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Presentation

Biomimetic Millirobots
Ron Fearing
Dept. of EECS
UC Berkeley
http://robotics.eecs.berkeley.edu/~ronf/Biomimetics.html
Berkeley
IROS 2011 Workshop: Biomimetic Millirobots
Outline
1.
2.
3.
4.
5.
6.
7.
Motivation and Overview
13 gram autonomous ornithopter
Flight + Ambulation
Fabrication and Design of Millirobots
Compliant Ambulating Millirobots
Compliant Nanofibers for Adhesion
Conclusions
1991
K.S.J. Pister, M.W. Judy, S.R. Burgett, and R.S.
Fearing, `` Microfabricated Hinges: 1 mm
Vertical Features with Surface Micromachining’’
IEEE Transducers `91 , San Francisco, CA June
1991.
R.S. Fearing, ``Control of a Micro-Organism as a Prototype
Micro-Robot'', 2nd Int. Symp. on Micromachines and Human
Sciences, Nagoya, Japan, Oct. 8-9, 1991
Current UCB Millirobot Platforms
MEDIC crawler
DASH + CLASH (Birkmeyer 2009,2011)
winged DASH (2009-2010)
Big RoACH (2009)
DynaRoACH (2010)
OctoRoACH (2011-)
IROS 2011 Workshop:
Biomimetic
BOLT
hybrid Millirobots
(2010-)
Bipedal Ornithopter for Locomotion Transition
Advantages of Milli-Size robots
(Mobility)(Intelligence)(Multiplicity) = Capability
larger
smaller
N*small=large
mobility
CPU MIPS
no change
multiplicity
N/A
sensing
no change
no change*
O(N2)
O(N2)
communication
* down to ~ 0.1 gram for temp, pressure,light, accel, chemical,
camera, radiation, sound, EM, humidity, etc (assume MEMS sensors)
Motivation for Mobile Millirobots
Exploring and tagging for situational awareness
+
+
Key:
+ survivor
Void Networks in Collapsed Structures as a Guide for
RF relay tag
the Development of Rescue Millirobots
crawler
large numbers of disposable robots could more quickly map out a
complicated environment than a few large robots
Access to tight spaces:
Locomotion tradeoffs: flight vs. ambulation
K. Peterson and R. Fearing, ``Experimental Dynamics of Wing Assisted Running for a
Bipedal Ornithopter Hybrid crawler’’ IROS 2011
Outline
1.
2.
3.
4.
5.
6.
7.
Flight + Ambulation
Conclusions
Ornithopter Power/Weight Budget
Air-Hogs-V-Wing-Avenger
ornithopter
component
mass
battery (60 mAh)
1.6 grams
CPU+electronics
1.4 grams
DC motor
1.6 grams
air frame+wings
7.8 grams
Total
12.4 grams
motor +
1.6 grams
0.6/1.2 watts
LiPo Battery
1.6 grams
400 sec
Flight control of iBird, (Baek, BioRob 2010)
Power loading: 10 grams/watt (thrust)
cruise: 3 m/sec
Structure
7.8 grams
CPU
1.4 grams
300 mW
Battery technology limits flight time to ~5 minutes
Autonomous Ornithopter Light Seeking
Autonomous Ornithopter Light Seeking
S. Baek et al. Flight Control for Target Seeking by
13 gram Ornithopter, IROS 2011
Outline
1.
2.
3.
4.
5.
6.
7.
Flight + Ambulation
Conclusions
Hybrid: Ornithopter with Legs
• Total Mass: 11.4 grams
• Bipedal – takes advantage of flapping wings to
provide dynamic stability
• Capable of hovering flight
• Can transition from horizontal locomotion to
hovering flight in ~1 meter
driven legs
K. Peterson and R. Fearing, ``Experimental Dynamics of Wing Assisted Running for a Bipedal
Ornithopter Hybrid crawler’’ IROS 2011
Outline
1.
2.
3.
4.
5.
6.
7.
Flight + Ambulation
Conclusions
Rapid Prototyping of Crawler
1) 2D layout 2) flexure cuts 3) polymer hinge material
4) laminate 5) part outlines 6) remove parts 7) fold individual parts
8) assemble 9) install actuators and wire
``Fast Scale Prototyping Process for Folded Millirobots’’, A.M. Hoover and R.S. Fearing
IEEE Int. Conf. Robotics and Automation Pasadena, May 2008.
Crawling Robot Concept
5X scale model (cardboard prototype)
miniRoACH 2.4 gram autonomous crawler
Hoover Steltz Fearing IROS 2008
Outline
1.
2.
3.
4.
5.
6.
7.
Flight + Ambulation
Conclusions
5 gram Medic Robot (remote vision processing)
802.15.4 Radio
Camera LED mount
Front-extended
hull
submitted to ICRA 2012
Kohut et al ICRA 2011
Rubber pads for
higher friction
Oct 2010 –Medic Z: 5.8 grams
Image Proc 2.2- CPU+ Zigbee +Flash + gyro
DASH Robot
Birkmeyer, Peterson, Fearing, IROS 2009
CLASH. Birkmeyer IROS 2011
Dynamic Steering
Hoover et al BioRob 2010
Steering by drive frequency, leg stiffness change (swap)
OctoRoACH Navigation to Target Source
light sensor steering control system
cell phone camera
as light sensor
(Karras)
OctoRoACH platform (Pullin)
Pullin, Kohut, and Fearing
(submitted ICRA 2011)
21
Experiment Result- Light Seeking
Heading (degrees)
Heading vs. Time
Light tracking control system
using cell phone camera input
on OctoRoACH
(Karras and Pullin)
25
15
5
-5
-15
-25
0
5
10
15
Time (seconds)
20
Estimated heading from horizontal position in image. Smooth terrainlimited by narrow field of view of camera optics
22
Outline
1.
2.
3.
4.
5.
6.
7.
Flight + Ambulation
Conclusions
Natural Gecko Hair Structure
UCB LDPE/PP
(on smooth
metal,
plastic,glass)
Unique gecko adhesive properties (Autumn 2007):
P 1. anisotropic attachment
P 2. high pulloff to preload ratio
P 3. low detachment force
P 4. material independence / van der Waals adhesion
P 5. self-cleaning
P 6. anti-self adhesion
P 7. non-sticky default state
P? 8. no residue
Key Design Principles
1. Rough Surface
Compatibility
Spatula
Seta
Lamella
J. Lee et al. Langmuir 2009
Material limit for synthetic gecko adhesion
30 N/sq.cm. in shear on glass
Gillies and Fearing, Langmuir 2011
Outline
1.
2.
3.
4.
5.
6.
Motivation
Power for Compliant Drive
Conclusions and Principles
Principles for Biomimetic Millirobots
Go with the flow:
•compliant grasping with local equilibria
•compliance- passive matching to surface topology
•passive stabilization: SLIP model in legged locomotion
Dynamics
•high power to weight ratio
•high frequency to average out disturbances
•low internal dissipation
Find nominal equilibria- perturb to steer
Acknowledgements
Biomimetic Millisystem lab members
Current and Former Graduate Students
Dr. Stan Baek
Dr. Aaron Hoover
Andrew Pullin
Kevin Peterson
Nick Hohut
Jaakko Karras
Fernando Garcia Bermudez
Sponsors:
National Science Foundation
DARPA DSO
ARL

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