Driving microrobots with SCuM: Single-Chip µicro Mote David Burnett UC Berkeley EE290G, Fall 2016 Collaborative project with Dr. Osama Khan, Filip Maksimovic, and Brad Wheeler Image from https://gl.wikipedia.org/wiki/Oscillatoria

Controlling a robot: from my macrorobotics past

Controlling a robot Energy Command Translation Control input Motors

Controlling a robot Energy Command Control input Translation Motors Feedback

Oscillatoria bonnemaisonii 2.4GHz Receiver 2.4GHz Transmitter Support Electronics Cortex M0 Processor Completed Aug 17 2016 2mm x 2mm Microrobot Control pads

Estimated overall performance 250kbps @10m wireless data 670uA 2.4GHz receive 1mA 2.4GHz transmit 125uA Cortex @ 5MHz, 1V 64 KB IMEM, 64 KB DMEM, 16 KB ROM ~22uA sleep current 3uA central clock 19uA digital leakage

Where could this go? Lower VDD, adjustable clock speed, selectively power areas of the chip, use low-leakage memory 100x better leakage, ~2x better active power VDD = 0.39V, fclk = 688kHz

4x 1V electrostatic control outputs for 1 leg Microrobot Control pads 4x 1V electrostatic control outputs for 1 leg 2x digital leg position sensors w/ resistive pull-up Program load Reset, status outputs, power 60x60um pads, 80um pitch Total chip 2mm wide Command Translation Motors Feedback

Hani Gomez, prepublication

Daniel Contreras, MARSS 2016 5mm Daniel Contreras, MARSS 2016

Daniel Contreras, MARSS 2016

High-voltage solar cells 1V signal 2.4GHz wifi SCuM High-voltage switches Normally 1V signal 4x Electrostatic gap closers 2x inchworm motors 1x robot leg Grounding Contact Grounding Contact

Add-ons Dedicated robot leg feedback controller Say "go" and turn off the microprocessor Drive slower when running low on energy Smarter position sense besides contact Level detection Fall over and ask, "Are you still there?" Command specificity & verification Robot IDs, encrypted communication channel Antenna

RF integration 1x1cm antenna? 2.4GHz RF input 2.4GHz RF output Daniel Contreras, MARSS 2016 1x1cm antenna? 2.4GHz RF input 2.4GHz RF output Hani Gomez, prepublication Keysight Technologies