Piezoelectric Robots

Piezoelectric materials are characterized by high power to weight ratio which make them suitable for driving miniature or micro scale mobile robots.  We have formulated computer-aided design principles utilizing bending modes of structures to achieve under-actuated or linkage based systems.

Pisces 1

• H. Hariri, G. S. Soh, S. H. Foong, K. L. Wood and K. Otto, “Miniature Piezoelectric Mobile Robot driven by Standing Wave”, Proceedings of the 14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, 2015.
• H. Hariri, A. P. Suherlan, G. S. Soh, S. H. Foong, K. Otto and K. L. Wood, “A Tether-less Legged Piezoelectric Miniature Robot Using Bounding Gait Locomotion for Bidirectional Motion”, IEEE International Conference on Robotics and Automation, Stockholm, Sweden, 2016.
• H. H. Hariri, G. S. Soh, S. H. Foong, and K. L. Wood, “Locomotion Study of a Standing Wave Driven Piezoelectric Miniature Robot for Bi-directional Motion”, IEEE Transactions on Robotics, 33(3):742-747, 2017.
• A. G. Dharmawan, H. H. Hariri, S. H. Foong, G. S. Soh, and K. L. Wood, “Steerable Miniature Legged Robot Driven by a Single Piezoelectric Bending Unimorph Actuator”, IEEE International Conference on Robotics and Automation, Singapore, 2017.
• A. G. Dharmawan, H. H. Hariri, G. S. Soh, S. H. Foong, and K. L. Wood, “Design and Gait Analysis of A Two Legged Miniature Robot With Piezoelectric-Driven Four-Bar Linkage”, ASME International Design Engineering Technical Conference, Cleveland, USA, 2017.
• H. K. Raut, H. H. Hariri, H. Parveen, G. S. Soh, A. Baji, H. Y. Low, K. L. Wood, “Fabrication of Gecko-inspired Hierarchical Arrays by Sacrificial Layer Mediated Nanoimprinting for Application in Miniature Climbing Devices”, ACS Applied Materials & Interfaces, 10(1):1288-1296, 2018.
• A. G. Dharmawan, H. H. Hariri, G. S. Soh, S. H. Foong, and K. L. Wood, “Design, Analysis and Characterization of a Two Legged Miniature Robot with Piezoelectric-Driven Four-Bar Linkage”, ASME Journal of Mechanism and Robotics, 10(2):021003, 2018.
• H. H. Hariri, G. S. Soh, S. F. Foong, K. L. Wood, “A Highly Manoeuvrable and Untethered Under-Actuated Legged Piezoelectric Miniature Robot”, ASME International Design Engineering Technical Conference, Anaheim, USA, 2019. (Accepted)