Link to IROS 2023 paper: https://doi.org/10.1109/IROS55552.2023.10341588
Link to additional information on lab website: https://www.colorado.edu/lab/jayaram/research/mclari
mCLARI was developed for the IROS 2023 paper "A shape-morphing insect-scale robot capable of omnidirectional terrain-adaptive locomotion in laterally confined spaces" The main CAD files for this version are found in mCLARI_01. For most purposes and needs this is the version you want to use and look at.
Further concept designs with slight design changes are in mCLARI_01.2 and mCLARI_01.2_concepts. Rough design replanning was done in mCLARI_02, yet this project was abandoned and not finished.
