Model-Based Insights on the Design of a Hexapod Magnetic Walker

We present a design for a 1 cm(3) magnetically actuated hexapedal walking robot fabricated using an all-polymer multi-material fabrication process capable of integrating sub-mm elastomeric joints into rigid polymer links. Modeling, optimization, and experimental insights from several different leg designs were used to improve the robot performance. The fabricated robots are capable of speeds up to 10.6 body lengths per second. This work focuses on the development of models for locomotion at small-scales as well as experimental validation and input back to the model.