International Journal of Advanced Robotic Systems (Jan 2011)

A Mobile Self-reconfigurable Microrobot with Power and Communication Relays

  • Dawei Zhang,
  • Zhenbo Li,
  • Mao Ling,
  • Jiapin Chen

Journal volume & issue
Vol. 7, no. 4
pp. 51 – 60

Abstract

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A modular mobile self-reconfigurable microrobot is developed to enlarge the whole surveillance range of mobile microrobot. The microrobot is designed as differential driven vehicle equipped with a passive universal connector with autonomic engagement/disengagement function, and actuated by MEMS-based electromagnetic micromotors. To realize that the microrobot is autonomous, its electrical system is designed in modularity and integrated. A simple autonomous docking approach based on infrared sensors is presented. Experimental results verify high efficiency and reliability of the proposed docking method, and demonstrate the improved ability of performing large-range vision-based surveillance by power and communication relays.

Keywords