The beetle "KarloFF" evolved in the framework of the diploma thesis of O.Heintze. Itīs skeletal structure is supported by six legs. Wires of a shape memory alloys are attached to the legs to pull them upwards and foward. At each step of movement three pairs of legs (A-A-A or B-B-B) are activated.

Additionally the bending of the legs is measured by strain gauges and transferred to a computer, who calculates the appropriate heating current in order to provide equal bending for every leg. Thus the beetle walkes straight ahead.

This film shows the beetle in action.

Movie of beetle "KarloFF"