Novel integrated system architecture for an autonomous jumping micro-robot
by Churaman, Wayne A., M.S., UNIVERSITY OF MARYLAND, COLLEGE PARK, 2010, 94 pages; 1482482

Abstract:

As the capability and complexity of robotic platforms continue to evolve from the macro to micro-scale, innovation of such systems is driven by the notion that a robot must be able to sense, think, and act [1]. The traditional architecture of a robotic platform consists of a structural layer upon which, actuators, controls, power, and communication modules are integrated for optimal system performance. The structural layer, for many micro-scale platforms, has commonly been implemented using a silicon die, thus leading to robotic platforms referred to as “walking chips” [2]. In this thesis, the first-ever jumping microrobotic platform is demonstrated using a hybrid integration approach to assemble on-board sensing and power directly onto a polymer chassis. The microrobot detects a change in light intensity and ignites 0.21mg of integrated nanoporous energetic silicon, resulting in 246μJ of kinetic energy and a vertical jump height of 8cm.

 
AdviserNeil Goldsman
SchoolUNIVERSITY OF MARYLAND, COLLEGE PARK
SourceMAI/ 49-02, p. , Nov 2010
Source TypeThesis
SubjectsElectrical engineering; Mechanical engineering; Robotics
Publication Number1482482
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