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Aubin, Cameron A.; Heisser, Ronald H.; Peretz, Ofek; Timko, Julia; Lo, Jacqueline; Helbling, E. Farrell; Sobhani, Sadaf; Gat, Amir D.; Shepherd, Robert F. (, Science)Insects perform feats of strength and endurance that belie their small stature. Insect-scale robots—although subject to the same scaling laws—demonstrate reduced performance because existing microactuator technologies are driven by low–energy density power sources and produce small forces and/or displacements. The use of high–energy density chemical fuels to power small, soft actuators represents a possible solution. We demonstrate a 325-milligram soft combustion microactuator that can achieve displacements of 140%, operate at frequencies >100 hertz, and generate forces >9.5 newtons. With these actuators, we powered an insect-scale quadrupedal robot, which demonstrated a variety of gait patterns, directional control, and a payload capacity 22 times its body weight. These features enabled locomotion through uneven terrain and over obstacles.more » « less
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Jafferis, Noah T.; Helbling, E. Farrell; Karpelson, Michael; Wood, Robert J. (, Nature)
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Steinmeyer, Rebecca; Hyun, Nak-seung P.; Helbling, E. Farrell; Wood, Robert J. (, International Conference on Robotics and Automation)null (Ed.)
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Chen, Yufeng; Zhao, Huichan; Mao, Jie; Chirarattananon, Pakpong; Helbling, E. Farrell; Hyun, Nak-seung Patrick; Clarke, David R.; Wood, Robert J. (, Nature)
