Crawling robot, inspired by an inchworm's locomotion, that is lightweight and can be used in hazardous environments for monitoring and inspection.

This robot, inspired by an inchworm locomotion, is manufactured from 2D patterns placed in a single film of composite and folded into working mechanisms. This design removes the need for assembly. The actuators are made from shape-memory alloy springs that are also designed to optimally increase the actuation frequency and the stroke of the bending motion of the robot.

Omegabot

<p>This robot, inspired by inchworm locomotion, is manufactured from 2D patterns placed in a single film of composite and folded into working mechanisms. This design removes the need for assembly. The actuators are made from shape-memory alloy springs that are also designed to optimally increase the actuation frequency and the stroke of the bending motion of the robot.</p><p>The pads of the robot that make contact with the surface are patterned structures with anisotropic friction coefficients, designed to always have larger friction forces in the direction that moves the Omegabot forward.</p>

Describes three design concepts for developing a crawling robot inspired by an inchworm. Describes the design, steering mechanism, and the actuators. Finally, there is a conclusion and future work is discussed. 



Omega-Shaped Inchworm-Inspired Crawling Robot With Large-Index-and-Pitch (LIP) SMA Spring Actuators.

Describes the mechanical design and fabrication of Omegabot and a proper selection of SMA spring actuators with a method for improving actuation performance. 



Finger-Sized Climbing Robot using Artificial Proleg.

Describes the design of the robot based on SCM. Crawling motion is described followed by a 2 dimensional turning motion.


Omegabot : Biomimetic Inchworm Robot Using SMA Coil Actuator and Smart Composite Microstructures (SCM).

Describes the design, fabrication processes of the microrobot. Describes features of the motion of the inchworm (Ascotis Selenaria) as well as various motions and parts that are to be applied for Omegabot.



Omegabot: Crawling Robot Inspired by Ascotis Selenaria.

Length

Width	

Maximum height	

Weight

Wire diameter	

Spring diameter	

Number of coils	

Crawling robot, inspired by an inchworm's locomotion, that is lightweight and can be used in hazardous environments for monitoring and inspection.



Length	150	mm
Width	15	mm
Maximum height	34	mm
Weight	1.2	g
Wire diameter	0.1	mm
Spring diameter	1.1	mm