This paper presents the development of a small and lightweight differential hexapedal microrobot, inspired by cockroach locomotion mechanism. Detailed design, prototyping and performance evaluation are reported in this paper. The manufacturing process of the microrobot uses Smart Composite Microstructure method by employing origami-inspired techniques. Each leg of the robot has 2-DoF in Cartesian space and uses cockroach mechanism in its configuration with lightweight moving parts. This microrobot deploys an on-board power source and control system architecture which offers the advantage of self-stabilizing in a horizontal plane, head orientation control and stair climbing capability that have not previously been reported in the literature. A prototype of the microrobot has been constructed and was evaluated at different terrains.

中文翻译：

---

仿生步行微型机器人的设计、原型制作和性能评估

本文介绍了一种受蟑螂运动机制启发的小型轻量级差分六足微型机器人的开发。本文报告了详细的设计、原型制作和性能评估。微型机器人的制造过程采用智能复合微结构方法，采用折纸技术。机器人的每条腿在笛卡尔空间中都有 2-DoF，并在其配置中使用蟑螂机制，并带有轻质移动部件。该微型机器人部署了车载电源和控制系统架构，具有在水平面内自稳定、头部方向控制和爬楼梯能力的优势，这些优势以前在文献中没有报道过。微型机器人的原型已经建成，并在不同的地形上进行了评估。