A wireless controlled robotic insect with ultrafast untethered running speeds.

Running speed degradation of insect-scale (less than 5 cm) legged microrobots after carrying payloads has become a bottleneck for microrobots to achieve high untethered locomotion performance. In this work, we present a 2-cm legged microrobot (BHMbot, BeiHang Microrobot) with ultrafast untethered running speeds, which is facilitated by the complementary combination of bouncing length and bouncing frequency in the microrobot's running gait. The untethered BHMbot (2-cm-long, 1760 mg) can achieve a running speed of 17.5 BL s-1 and a turning centripetal acceleration of 65.4 BL s-2 at a Cost of Transport of 303.7 and a power consumption of 1.77 W. By controlling its two front legs independently, the BHMbot demonstrates various locomotion trajectories including circles, rectangles, letters and irregular paths across obstacles through a wireless control module. Such advancements enable the BHMbot to carry out application attempts including sound signal detection, locomotion inside a turbofan engine and transportation via a quadrotor.

A Millimeter-Scale Multilocomotion Microrobot Capable of Controlled Crawling and Jumping.

Insects and animals in nature generally have powerful muscles to guarantee their complex motion, such as crawling, running, and jumping. It is challenging for insect-sized robots to achieve controlled crawling and jumping within the scale of millimeters and milligrams. This article proposes a novelty bionic muscle actuator, where an electrical pulse is applied to generate joule heat to expand the actuator's chamber. Under the restoring force of the spring element, the chamber contracts back to the initial state to finish a complete cycle. The actuator can obtain high-frequency vibration under the high-frequency electrical signal. We propose a microrobot based on the novelty actuator to achieve controlled crawling and jumping over the obstacle of the millimeter-sized robot. The robot is fabricated with two actuators as a crawling module and one actuator as a jumping module, with a mass of 52 mg, length of 9.3 mm, width of 9.1 mm, and height of 4 mm. The microrobot has a maximum crawling turning velocity of 0.73 rad/s, a maximum jump height of 42 mm (10.5 times body height), and a maximum jump velocity of 0.91 m/s. This study extends the potential for applying the novelty bionic-muscle actuator to the microrobot.

A novel electric stimulus-responsive micro-actuator for powerful biomimetic motions.

Limited by the surface-to-volume ratio of structural materials, it is a great challenge to achieve high output performance in a millimetre-sized actuator. Traditional rigid actuators can achieve higher vibration frequencies above the centimetre size, but their working performance will be greatly reduced below the millimetre size, and even cannot maintain the vibration. A micro-actuator is highly essential for the miniaturisation of bionic robots. In this work, we present a novel driving principle by utilising the plasmonic thermal energy generated by electric stimulation to drive the vibration of the micro-actuator. In the design, the micro-actuator is composed of two chambers and elastic elements, which is similar to the design of a micro-piston. By utilising the thermal energy of the plasma, the actuator can generate high-frequency vibration (resonant frequency of 140 Hz), and the simple structural design can achieve a large vibration amplitude on a millimetre scale. Based on this powerful actuator, several applications are presented, such as fast crawling and jumping. The good performance of the electric stimulus-responsive micro-actuator suggests promising applications ranging from millimetre-scale robots in confined spaces to detection, search and rescue.

An Electrostatic Self-Excited Resonator with Pre-Tension/Pre-Compression Constraint for Active Rotation Control.

We report a novel electrostatic self-excited resonator driven by DC voltage that achieves variable velocity-position characteristics via applying the pre-tension/pre-compression constraint. The resonator consists of a simply supported micro-beam, two plate electrodes, and two adjustable constraint bases, and it can be under pre-compression or pre-tension constraint by adjusting the distance L between two constraint bases (when beam length l > L, the resonator is under pre-compression and when l < L, it is under pre-tension). The oscillating velocity of the beam reaches the maximum value in the position around electrodes under the pre-compression constraint and reaches the maximum value in the middle position between two electrodes under the pre-tension condition. By changing the constraint of the microbeam, the position of the maximum velocity output of the oscillating beam can be controlled. The electrostatic self-excited resonator with a simple constraint structure under DC voltage has great potential in the field of propulsion of micro-robots, such as active rotation control of flapping wings.

Insect-scale fast moving and ultrarobust soft robot.

Mobility and robustness are two important features for practical applications of robots. Soft robots made of polymeric materials have the potential to achieve both attributes simultaneously. Inspired by nature, this research presents soft robots based on a curved unimorph piezoelectric structure whose relative speed of 20 body lengths per second is the fastest measured among published artificial insect-scale robots. The soft robot uses several principles of animal locomotion, can carry loads, climb slopes, and has the sturdiness of cockroaches. After withstanding the weight of an adult footstep, which is about 1 million times heavier than that of the robot, the system survived and continued to move afterward. The relatively fast locomotion and robustness are attributed to the curved unimorph piezoelectric structure with large amplitude vibration, which advances beyond other methods. The design principle, driving mechanism, and operating characteristics can be further optimized and extended for improved performances, as well as used for other flexible devices.

High-Voltage Flexible Microsupercapacitors Based on Laser-Induced Graphene.

High-voltage energy-storage devices are quite commonly needed for robots and dielectric elastomers. This paper presents a flexible high-voltage microsupercapacitor (MSC) with a planar in-series architecture for the first time based on laser-induced graphene. The high-voltage devices are capable of supplying output voltages ranging from a few to thousands of volts. The measured capacitances for the 1, 3, and 6 V MSCs were 60.5, 20.7, and 10.0 µF, respectively, under an applied current of 1.0 µA. After the 5000-cycle charge-discharge test, the 6 V MSC retained about 97.8% of the initial capacitance. It also was recorded that the all-solid-state 209 V MSC could achieve a high capacitance of 0.43 µF at a low applied current of 0.2 µA and a capacitance of 0.18 µF even at a high applied current of 5.0 µA. We further demonstrate the robust function of our flexible high-voltage MSCs by using them to power a piezoresistive microsensor (6 V) and a walking robot (>2000 V). Considering the simple, direct, and cost-effective fabrication method of our laser-fabricated flexible high-voltage MSCs, this work paves the way and lays the foundation for high-voltage energy-storage devices.

Artificial insect wings with biomimetic wing morphology and mechanical properties.

The pursuit of a high lift force for insect-scale flapping-wing micro aerial vehicles (FMAVs) requires that their artificial wings possess biomimetic wing features which are close to those of their natural counterpart. In this work, we present both fabrication and testing methods for artificial insect wings with biomimetic wing morphology and mechanical properties. The artificial cicada (Hyalessa maculaticollis) wing is fabricated through a high precision laser cutting technique and a bonding process of multilayer materials. Through controlling the shape of the wing venation, the fabrication method can achieve three-dimensional wing architecture, including cambers or corrugations. Besides the artificial cicada wing, the proposed fabrication method also shows a promising versatility for diverse wing types. Considering the artificial cicada wing's characteristics of small size and light weight, special mechanical testing systems are designed to investigate its mechanical properties. Flexural stiffness, maximum deformation rate and natural frequency are measured and compared with those of its natural counterpart. Test results reveal that the mechanical properties of the artificial cicada wing depend strongly on its vein thickness, which can be used to optimize an artificial cicada wing's mechanical properties in the future. As such, this work provides a new form of artificial insect wings which can be used in the field of insect-scale FMAVs.

A low cycle fatigue test device for micro-cantilevers based on self-excited vibration principle.

This paper reports a low-cycle fatigue test device for micro-cantilevers, which are widely used in micro scale structures. The working principle of the device is based on the phenomenon that a micro-cantilever can be set into self-excited vibration between two electrodes under DC voltage. Compared with previous devices, this simple device can produce large strain amplitude on non-notched specimens, and allows a batch of specimens to be tested simultaneously. Forty-two micro-cantilever specimens were tested and their fatigue fracture surfaces exhibit typical low cycle fatigue characteristics. As such, the device is very attractive for future fatigue investigation for micro scale structures.