This paper presents the development of a mesoscale quadruped mobile robot that employs two pieces of piezocomposite actuators for the bounding locomotion. The overall design of the robot is inspired by legged insects, and in particular the leg structu...
This paper presents the development of a mesoscale quadruped mobile robot that employs two pieces of piezocomposite actuators for the bounding locomotion. The overall design of the robot is inspired by legged insects, and in particular the leg structure of insects or animals is reflected on the robot in a simplified form, such that each leg of the robot has only one degree of freedom. The lack of degree of freedom is compensated for by a slope of the robot frame relative to the horizontal plane. For the implementation of self-contained mobile robot, a small power supply circuit is designed and fabricated. Experiments showed that the robot can locomote with the circuit on board, which can be a significant step toward the goal of building an autonomous legged robot actuated by piezocomposite actuators.