PMID- 33572248
OWN - NLM
STAT- PubMed-not-MEDLINE
LR  - 20210316
IS  - 2072-666X (Print)
IS  - 2072-666X (Electronic)
IS  - 2072-666X (Linking)
VI  - 12
IP  - 2
DP  - 2021 Feb 9
TI  - Comparative Study of Traveling and Standing Wave-Based Locomotion of Legged 
      Bidirectional Miniature Piezoelectric Robots.
LID - 10.3390/mi12020171 [doi]
LID - 171
AB  - The use of wave-based locomotion mechanisms is already well established in the 
      field of robotics, using either standing waves (SW) or traveling waves (TW). The 
      motivation of this work was to compare both the SW- and the TW-based motion of a 
      20-mm long sub-gram glass plate, with attached 3D printed legs, and piezoelectric 
      patches for the actuation. The fabrication of the robot did not require 
      sophisticated techniques and the speed of motion was measured under different 
      loading conditions. In the case of the TW mechanism, the influence of using 
      different pairs of modes to generate the TW on the locomotion speed has been 
      studied, as well as the effect of the coupling of the TW motion and the first 
      flexural vibration mode of the legs. This analysis resulted in a maximum unloaded 
      speed of 6 bodylengths/s (BL/s) at 65 V peak-to-peak (Vpp). The SW approach also 
      examined different modes of vibration and a speed of locomotion as high as 14 
      BL/s was achieved, requiring, unlike the TW case, a highly precise location of 
      the legs on the glass supporting platform and a precise tuning of the excitation 
      frequency.
FAU - Hernando-Garcia, Jorge
AU  - Hernando-Garcia J
AUID- ORCID: 0000-0002-1651-2372
AD  - Microsystems, Actuators and Sensors Group, Universidad de Castilla-La Mancha, 
      E-13071 Ciudad Real, Spain.
FAU - Garcia-Caraballo, Jose Luis
AU  - Garcia-Caraballo JL
AD  - Microsystems, Actuators and Sensors Group, Universidad de Castilla-La Mancha, 
      E-13071 Ciudad Real, Spain.
FAU - Ruiz-Diez, Victor
AU  - Ruiz-Diez V
AUID- ORCID: 0000-0002-0568-2974
AD  - Microsystems, Actuators and Sensors Group, Universidad de Castilla-La Mancha, 
      E-13071 Ciudad Real, Spain.
FAU - Sanchez-Rojas, Jose Luis
AU  - Sanchez-Rojas JL
AUID- ORCID: 0000-0001-8605-0321
AD  - Microsystems, Actuators and Sensors Group, Universidad de Castilla-La Mancha, 
      E-13071 Ciudad Real, Spain.
LA  - eng
GR  - RTI2018-094960-B-100/Ministerio de Ciencia e Innovacion/
GR  - SBPLY/17/180501/000139/Junta de Comunidades de Castilla-La Mancha/
PT  - Journal Article
DEP - 20210209
PL  - Switzerland
TA  - Micromachines (Basel)
JT  - Micromachines
JID - 101640903
PMC - PMC7915569
OTO - NOTNLM
OT  - leg
OT  - miniature
OT  - piezoelectric
OT  - robot
OT  - standing wave
OT  - traveling wave
COIS- The authors declare no conflict of interest.
EDAT- 2021/02/13 06:00
MHDA- 2021/02/13 06:01
PMCR- 2021/02/09
CRDT- 2021/02/12 01:01
PHST- 2020/12/31 00:00 [received]
PHST- 2021/02/05 00:00 [revised]
PHST- 2021/02/05 00:00 [accepted]
PHST- 2021/02/12 01:01 [entrez]
PHST- 2021/02/13 06:00 [pubmed]
PHST- 2021/02/13 06:01 [medline]
PHST- 2021/02/09 00:00 [pmc-release]
AID - mi12020171 [pii]
AID - micromachines-12-00171 [pii]
AID - 10.3390/mi12020171 [doi]
PST - epublish
SO  - Micromachines (Basel). 2021 Feb 9;12(2):171. doi: 10.3390/mi12020171.