Let’s All Pull Together: Principles for Sharing Large Loads in Microrobot Teams

We present a simple statistical model to predict the maximum pulling force available from robot teams. The expected performance is a function of interactions between each robot and the ground (e.g., whether running or walking). We confirm the model with experiments involving impulsive bristlebots, small walking and running hexapods, and 17 g μTug that employ adhesion instead of friction. With attention to load sharing, each μTug can operate at its individual limit so that a team of six pulls with forces exceeding 200 N.