Ronald S. Fearing
In the Biomimetic Millisystems Lab we have combined our expertise in building millirobots with an interest in legged systems to build what we believe is the smallest untethered, legged robot to date - a 2.5 gram legged robot called the Robotic Autonomous Crawling Hexapod (RoACH). This robot makes use of the Smart Composite Microstructures fabrication process and integrated shape memory alloy (SMA) wire actuators. All power, control, and communication electronics are carried onboard and the entire robot is powered with a 20maHr Lithium-polymer battery.
Figure 1: Example crawling milli-robots fabricated using Smart Composite Microstructure process.
More information: http://robotics.eecs.berkeley.edu/~ronf/Ambulation/