Actuator design and whole-body dynamics of micro centipede robots

David Sheynkman, Raheem Lawhorn, Cong Wang, Lu Lu

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Micro robots have been recognized as a promising solution for exploring complex and dangerous environments during rescue and reconnaissance missions. The idea of micro centipede robots is drawing increasing attention because of their great potentials to get through rubble and reaching buried areas. This paper explores the possibility of using micro electromagnetic actuators on micro centipede robots, which could give better mobility than using piezoelectric actuators. This paper also discusses the whole-body dynamics of centipede robots. A series of simulation studies are conducted to draw conclusions on how the propulsion characteristics of individual legs and the ground friction affect the dynamics and stability of the whole centipede robot.

Original languageEnglish (US)
Title of host publicationAdvances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791850695
StatePublished - 2016
EventASME 2016 Dynamic Systems and Control Conference, DSCC 2016 - Minneapolis, United States
Duration: Oct 12 2016Oct 14 2016

Publication series

NameASME 2016 Dynamic Systems and Control Conference, DSCC 2016


OtherASME 2016 Dynamic Systems and Control Conference, DSCC 2016
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering


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