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MEDIC: A Legged Millirobot Utilizing Novel Obstacle Traversal
  • Nicholas J. Kohut, University of California - Berkeley
  • Aaron M. Hoover, Franklin W. Olin College of Engineering
  • Kevin Y. Ma, University of California - Berkeley
  • Stanley S. Baek, University of California - Berkeley
  • Ronald S. Fearing, University of California - Berkeley
Document Type
Conference Proceeding
Publication Date

This work presents the design, fabrication, capabilities, and obstacle traversal mechanics of MEDIC (MillirobotEnabled Diagnostic of Integrated Circuits), a small legged robot able to overcome a varied array of obstacles. MEDIC features a hull that keeps its body in contact with the ground at all times, and uses only four actuators to move forward, turn, mount obstacles, and move in reverse. The chassis is fabricated using a Smart Composite Microstructures (SCM) approach and the robot is actuated by coiled Shape Memory Alloy (SMA). MEDIC also features a camera which will be useful for navigation in the future.


© 2011 IEEE. This article was published in the 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 802-808 and may be found here.

Citation Information
Nicholas J. Kohut, Aaron M. Hoover, Kevin Y. Ma, Stanley S. Baek, et al.. "MEDIC: A Legged Millirobot Utilizing Novel Obstacle Traversal" (2011)
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