The Harvard Ambulatory MicroRobot (HAMR)

The Harvard Ambulatory MicroRobot (HAMR) is a quadrupedal robot manufactured using the PC-MEMS fabrication process and assembled using techniques inspired by pop-up books. Using six piezoelectric actuators, HAMR is capable of tethered locomotion up to 37 cm/s using a 70 Hz gait frequency. In addition, HAMR can successfully carry greater than of additional payload, and maneuver using two simple control inputs. A previous prototype integrated power and control to demonstrate autonomous locomotion of