Miniature piezoelectric mobile robot driven by standing wave

H. H. Hariri, G. S. Soh, S. H. Foong, K. L. Wood, K. Otto

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

16 Citations (Scopus)


In this paper, we will study the locomotion behaviour of a meso scale legged piezoelectric mobile robot driven by standing wave. The design exploits the use of standing waves to be transmitted to its legs to propel the robot forward. A piezoelectric robot is designed and discussion are provided regarding the dynamic modelling of the mobile robot. An experimental measure of the speed according to the applied voltage is given herein on acrylic substrate. We have shown that 50 mm by 10 mm piezo actuator have demonstrated a bi-directional walking speed on acrylic substrate of up to 4 cm/s when a 40 V voltage is applied.

Original languageEnglish
Title of host publication2015 IFToMM World Congress Proceedings, IFToMM 2015
PublisherNational Taiwan University (IEEB)
ISBN (Electronic)9789860460988
Publication statusPublished - 2015
MoE publication typeA4 Article in a conference publication
EventIFToMM World Congress - Taipei, Taiwan, Republic of China
Duration: 25 Oct 201530 Oct 2015
Conference number: 14


ConferenceIFToMM World Congress
Abbreviated titleIFToMM
Country/TerritoryTaiwan, Republic of China


  • Locomotion
  • Mobile robot
  • Piezoelectric
  • Standing wave


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