Design, fabrication and testing of a smart robotic foot

A miniature smart robotic foot (SRF), equipped with an integrated vacuum pump, a suction cup, a pressure sensor and a micro-valve, was designed, fabricated and tested. A mock-up robot equipped with the SRF was used to study the load-carrying potential of the system. The SRF weighs 35 g and it can, with a 40 mm suction cup, support weights in the range of 1.2-3.5 kg under various test conditions and surfaces. A next generation SRF is also built, which is equipped with a micro-controller, a video micro-camera, a wireless interface and a thin film battery.