HAMR-F

micro robot inspired

by cockroach
By
• Mushaffa Rasyid Ridha (16470)
• Faiz Hakim R. (17882)
• M Haidar Sulthan H (17894)
• Yunus Bayu Aji (17902)
Introduction
• So this article explain about new version of this type of micro robot,
HAMR.
• One of the new and exciting things about new HAMR in 2018 is the
introduction of HAMR-F, which features onboard power and a first
major step towards full autonomy.
• The previous versions of HAMR were mostly tethered and not
particularly autonomous.
Dimension and Specification
• HAMR-F is 4.5 centimeters long and weighs just 2.8 grams.
• It can zip along at up to 17.2 cm/s, or just under 4 body lengths per
second (Over 300 percent faster than the previous off-tether version
of HAMR, and only a little bit slower than the tethered version).
• An improved powertrain increases its robustness, and also gives the
robot the ability to move much more dynamically, enabling aerial-
phase motion.
Cost of Transport (CoT)
• HAMR-F has 8-mAh lithium-polymer battery. It can also be equipped
with 25-mAh battery, giving it a runtime of 4.5 minutes.
• Its cost of transport (a dimensionless measurement of how efficient a
thing is at moving itself) is about 84. To put this in context, the cost of
transport of a typical cockroach is around 16.
• The researchers said in the article that with some tweaks to HAMR-F’s
speed and drive system, they may be able to get the robot’s CoT
down to lower than the roach.
How it can be faster than its predecessors?
• First, HAMR-F incorporates a model-based redesign of the
transmission from a prior publication. This redesign resulted in a
significantly higher force output per unit mass.
• The second breakthrough is a compact and efficient tapped-inductor
boost converter than can power eight independently driven, high-
voltage, piezoelectric actuators.
Large aerial phases and dynamic maneuvers
• The researchers goal is to make HAMR-F jump and run on its hind two
legs, HAMR-F can already run outside on rock and real-world surfaces.
• The researchers tells that types of maneuvers (traverse larger
obstacles and gaps) are possible with previous tethered versions of
HAMR, and now it just need to translate this to be compatible with
the added mass and microcontrollers onboard HAMR-F.
Future Development
• Simple controllers with HAMR-F, for example walking in a straight line,
but The researchers wish to expand on this by adding tactile feedback
in the legs to detect obstacles or improve speed on surfaces with
varying levels of friction.
• The researchers are also exploring putting a camera onboard which
would be able to record and transmit data and also be used for optic-
flow based controllers.
Future Application
• One of the target applications for HAMR-F is to inspect and diagnose
machinery or areas with limited accessibility— an engine or
ductwork, for example. To realize these applications, the researchers
still need added sensors (e.g., a camera, gas composition), but these
can be easily integrated due to the expandable circuit boards and
payload carrying capacity of HAMR-F.
Conclusion
• At the moment, HAMR-F is controlled by a human. It’s a little bit
wiggly, so the first thing to do in the interest of eventual autonomy
was to get it to skitter in a straight line, and the addition of a MEMS
gyro tamed HAMR-F to keep it within about 10 degrees of a
commanded straight line. From here, the plan is to integrate
additional sensors to improve control, and the researchers will also be
exploring how to get HAMR-F to be useful in more challenging
environments.
So That All The Article Said
Thanks