SolarPede: a stick-and-slip, light-powered, Mobile micro-crawler

In this paper, we present recent research results aimed at creating mobile microrobotic agents powered by light energy. The SolarPede is a second-generation, cm-scale micro-crawler targeting microfactory applications. The microrobot is equipped with a legged locomotion system and an electronic backpack. This novel microrobot is an advancement in functionality and design over its decade-old predecessor, the ARRIPede, and includes technological advancements such as wireless communication, light power, and omnidirectional mobility on a flat operating surface. The robot “chassis” consists of Micro Electromechanical System (MEMS) electrothermal actuators and micro-assembled vertical legs. Attached to the “chassis” is an electronic backpack realized using custom Printed Circuit Boards and interfaced to the Silicon body by wire-bonding. A simulation model for the SolarPede was created to predict system behavior and dynamic operation, and to serve as a design tool. Finally, the omni-directional locomotion of the SolarPede was experimentally confirmed in a “belly-up” configuration and powered by a solar simulator. A Silicon payload was tracked under optical microscope to measure and verify the motion velocity of 40 μm/s can be achieved by the microrobot in untethered operation with light irradiance equivalent to 8 suns.