高技术通讯（英文版）2006，Vol.12Issue(2)：165-169,5.
Study of an inchworm-like micro-robot
Study of an inchworm-like micro-robot
摘要
Abstract
A micro-robot with 4 DOFs is presented in this paper. An inchworm-like biped mechanical structure is selected with the advantages of small size and minimal weight. It can walk on wall as an inchworm with two different locomotion modes such as crawling and overturn. With rotation mode, this robot can change it's motion direction. The robot can also transit between different surfaces. The kinematics model of the robot has been analyzed. A DSP based embedded controller is used for minimal power consumption and efficient control. The micro-robot can move flexibly and fit complicated un-structural environment well.关键词
micro-robot/inchworm-like/kinematics/DSPKey words
micro-robot/inchworm-like/kinematics/DSP分类
信息技术与安全科学引用本文复制引用
Li Mantian,Guo Wei,Sun Lining..Study of an inchworm-like micro-robot[J].高技术通讯（英文版）,2006,12(2):165-169,5.基金项目
Supported by the High Technology Research and Development Programme of China (No. 2004AA420110), Heilongjiang Province Technology Foundation (GB04A502), Scientific Research Foundation of Harbin Institute of Technology (HIT.2001.08, HIT.2002.27). （No. 2004AA420110）
