Conor K. Trygstad
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View article: Force Characterization of Insect-Scale Aquatic Propulsion Based on Fluid-Structure Interaction
Force Characterization of Insect-Scale Aquatic Propulsion Based on Fluid-Structure Interaction Open
We present force characterizations of two newly developed insect-scale propulsors--one single-tailed and one double-tailed--for microrobotic swimmers that leverage fluid-structure interaction (FSI) to generate thrust. The designs of these …
View article: Feedback Control of a Single-Tail Bioinspired 59-mg Swimmer
Feedback Control of a Single-Tail Bioinspired 59-mg Swimmer Open
We present an evolved steerable version of the single-tail Fish-&-Ribbon-Inspired Small Swimming Harmonic roBot (FRISSHBot), a 59-mg biologically inspired swimmer, which is driven by a new shape-memory alloy (SMA)-based bimorph actuator. T…
View article: Power-Efficient Actuation for Insect-Scale Autonomous Underwater Vehicles
Power-Efficient Actuation for Insect-Scale Autonomous Underwater Vehicles Open
We present a new evolution of the Very Little Eel-Inspired roBot, the VLEIBot++, a 900-mg swimmer driven by two 10-mg bare high-work density (HWD) actuators, whose functionality is based on the use of shape-memory alloy (SMA) wires. An act…
View article: A New 10-mg SMA-Based Fast Bimorph Actuator for Microrobotics
A New 10-mg SMA-Based Fast Bimorph Actuator for Microrobotics Open
We present a new millimeter-scale bimorph actuator for microrobotic applications, driven by feedforward controlled shape-memory alloy (SMA) wires. The device weighs 10 mg, measures 14 mm in length, and occupies a volume of 4.8 mm3, which m…
View article: Progress Towards Submersible Microrobots: A Novel 13-mg Low-Power SMA-Based Actuator for Underwater Propulsion
Progress Towards Submersible Microrobots: A Novel 13-mg Low-Power SMA-Based Actuator for Underwater Propulsion Open
We introduce a new low-power 13-mg microactuator driven by shape-memory alloy (SMA) wires for underwater operation. The development of this device was motivated by the recent creation of microswimmers such as the FRISHBot, WaterStrider, VL…
View article: VLEIBot: A New 45-mg Swimming Microrobot Driven by a Bioinspired Anguilliform Propulsor
VLEIBot: A New 45-mg Swimming Microrobot Driven by a Bioinspired Anguilliform Propulsor Open
This paper presents the VLEIBot^* (Very Little Eel-Inspired roBot), a 45-mg/23-mm^3 microrobotic swimmer that is propelled by a bioinspired anguilliform propulsor. The propulsor is excited by a single 6-mg high-work-density (HWD) microactu…
View article: A New 1-mg Fast Unimorph SMA-Based Actuator for Microrobotics
A New 1-mg Fast Unimorph SMA-Based Actuator for Microrobotics Open
We present a new unimorph actuator for micro-robotics, which is driven by thin shape-memory alloy (SMA) wires. Using a passive-capillary-alignment technique and existing SMA-microsystem fabrication methods, we developed an actuator that is…