24 July 1998 Soft-computing control of piezo walking microrobots
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Abstract
PLIF (Piezo Light Intelligent Flea) are a family of walking three legs microrobots, two legs are moved by means of piezo ceramic bimorph actuators, while the third is only passive. These robots are very small (2 cm X 2 cm) and very light (few grams) but at the same time relatively fast (20 cm/s) with the capability to move with very small steps (few microns). In the paper three different type of PLIF are described and some measurement performed with a camera are reported in order to identify the dynamical behavior of the robots. The dynamic measures pointed out that is very difficult to control these systems because of the high uncertainties in the interactions between the legs and the surface. Then a soft-computing approach for the control of such systems has been proposed by using infrared detector as sensors on the robots.
© (1998) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Giovanni Muscato, Giovanni Muscato, } "Soft-computing control of piezo walking microrobots", Proc. SPIE 3323, Smart Structures and Materials 1998: Mathematics and Control in Smart Structures, (24 July 1998); doi: 10.1117/12.316347; https://doi.org/10.1117/12.316347
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