Chapter 23 — Biomimetic Robots

RoACH: a 2.4 gram, untethered, crawling hexapod robot

The robotic autonomous crawling hexapod (RoACH) is made using lightweight composites with integrated flexural hinges. It is actuated by two shape-memory-alloy wires and controlled by a PIC microprocessor. It can communicate over IrDA and run untethered for more than nine minutes on a single charge.
Aaron M. Hoover, Erik Steltz, Ronald S. Fearing