相关论文: An Insect-scale Untethered Laser-powered Jumping M…

We design an insect-sized rolling microrobot driven by continuously rotating wheels. It measures 18mm$\times$8mm$\times$8mm. There are 2 versions of the robot - a 96mg laser-powered one and a 130mg supercapacitor powered one. The robot can…

Here we present the design of an insect-scale microrobot that generates lift by spinning its wings. This is in contrast to most other microrobot designs at this size scale which rely on flapping wings to produce lift. The robot has a wing…

Untethered soft robots are essential for advancing the real-world deployment of soft robotic systems in diverse and multitasking environments. Inspired by soft-bodied inchworm, we present a fully untethered soft robot with a curved,…

Aerial insects can effortlessly navigate dense vegetation, whereas similarly sized aerial robots typically depend on offboard sensors and computation to maintain stable flight. This disparity restricts insect-scale robots to operation…

A hover-capable insect-inspired flying robot that can remain long in the air has shown its potential use for both confined indoor and outdoor applications to complete assigned tasks. In this letter, we report improvements in the flight…

Here we present HAMR-Jr, a \SI{22.5}{\milli\meter}, \SI{320}{\milli\gram} quadrupedal microrobot. With eight independently actuated degrees of freedom, HAMR-Jr is, to our knowledge, the most mechanically dexterous legged robot at its scale…

Aerial robots the size of a honeybee (~100 mg) have advantages over larger robots because of their small size, low mass and low materials cost. Previous iterations have demonstrated controlled flight but were difficult to fabricate because…

To date, insect scale robots capable of controlled flight have used flapping wings for generating lift, but this requires a complex and failure-prone mechanism. A simpler alternative is electrohydrodynamic (EHD) thrust, which requires no…

Jumping is an efficient locomotion strategy to traverse cluttered, uneven, or unstable environments in nature, yet replicating continuous, autonomous leaping in soft robots remains challenging due to limited energy storage and reliance on…

Jumping and hopping locomotion are efficient means of traversing unstructured rugged terrain with the former being the focus of roboticists; a focus that has recently been changing. This focus has led to significant performance and…

This paper introduces Q8bot, an open-source, miniature quadruped designed for robotics research and education. We present the robot's novel zero-wire design methodology, which leads to its superior form factor, robustness, replicability,…

Here we report the first sub-milligram flapping wing vehicle which is able to mimic insect wing kinematics. Wing stroke amplitude of 90$^\circ$ and wing pitch amplitude of 80$^\circ$ is demonstrated. This is also the smallest wing-span…

Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted…

The potential of Martian lava tubes for resource extraction and habitat sheltering highlights the need for robots capable to undertake the grueling task of their exploration. Driven by this motivation, in this work we introduce a legged…

Sensor networks with devices capable of moving could enable applications ranging from precision irrigation to environmental sensing. Using mechanical drones to move sensors, however, severely limits operation time since flight time is…

In this paper, we introduce advances in the sensor suite of an autonomous flying insect robot (FIR) weighing less than a gram. FIRs, because of their small weight and size, offer unparalleled advantages in terms of material cost and…

Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often…

We present a new unimorph actuator for micro-robotics, which is driven by thin shape-memory alloy (SMA) wires. Using a passive-capillary-alignment technique and existing SMA-microsystem fabrication methods, we developed an actuator that is…

While most micro-robots face difficulty traveling on rugged and uneven terrain, beetles can walk smoothly on the complex substrate without slipping or getting stuck on the surface due to their stiffness-variable tarsi and expandable hooks…

Soft underwater robots typically explore bioinspired designs at the expense of power efficiency when compared to traditional underwater robots, which limits their practical use in real-world applications. We leverage a fluidic closed-loop…