project specification

DASH

DASH is a small, lightweight, power autonomous robot capable of running at speeds up to 15 body lengths per second. DASH has a sprawled posture and uses an alternating tripod gait to achieve dynamic open-loop horizontal locomotion. The kinematic design uses only a single drive motor and allows for a high power density. In addition to being fast, DASH is also well suited to surviving falls from large heights, due to the uniquely compliant nature of its structure.

Specifications

Length10 cm
Width5 cm
Weight16 g
Speed1.5 m/s
CommunicationBluetooth
Power 3.7 V50mAh

Overview

Its smal size allows it to navigate into more confined environments that larger robots would be unable to enter or traverse, such as caves or debris. Small robots are easily transported by either vehicles or humans to be deployed to remote locations as needed. One example includes fieldworkers who need access to otherwise dangerous, inaccessible areas such as collapsed buildings or ones damaged in earthquakes. Small, inexpensive robots are also a key component for rapidinstallation of ad-hoc networks.

DASH has a sprawled posture and uses an alternating tripod gait to achieve dynamic open-loop horizontal locomotion. The kinematic design uses only a single drive motor and allows for a high power density. In addition to being fast, DASH is also well suited to surviving falls from large heights, due to the uniquely compliant nature of its structure.

DASH uses stiff linkages and polymer hinge elements to transfer power from the motor to the legs. The mechanism works like an oar, with a circular input trajectory forcing the end of the oar to follow a similar circular output trajectory. 

Two different leg designs are used with DASH. The first is a stiff, horizontal design and  the  second is an angled design with built in compliance at the foot. The compliant leg has one flexure joint that is free to rotate when pressed into the ground. The rigidity of the joint determines the compliance of the leg.

References

Elaborate research project that describes the mechanical design, the simulations, results, and discussions of those results.

P. Birkmeyer.

Describes the technology, the mechanical design, hip design, and differential drive. Describes the body design, and steering. Goes into experiments, and results.

P. Birkmeyer, K. Peterson and R. S. Fearing.

Wevolver 2022