An agile multimodal microrobot with architected passively morphing wheels DOI Creative Commons
Yuchen Lai,

Chuanzhen Zang,

Guoquan Luo

et al.

Science Advances, Journal Year: 2024, Volume and Issue: 10(51)

Published: Dec. 18, 2024

Multimodal microrobots are of growing interest due to their capabilities navigate diverse terrains, with promising applications in inspection, exploration, and biomedicine. Despite remarkable progress, it remains challenging combine the attributes excellent maneuverability, low power consumption, high robustness a single multimodal microrobot. We propose an architected design passively morphing wheel that can be stabilized at distinct geometric configurations, relying on asymmetric bending stiffness bioinspired tentacle structures. By integrating such wheels electromagnetic motors flexible body, we develop highly compact, lightweight, microrobot (length ~32 mm mass ~4.74 g) three locomotion gaits. It has motion speed (~21.2 BL/s), agility (relative centripetal acceleration, ~206.9 BL/s 2 ), consumption (cost transport, ~89), robustness, strong terrain adaptabilities. Integration batteries wireless control module enables developments untethered maintains agility, traveling hybrid terrains.

Language: Английский

An agile multimodal microrobot with architected passively morphing wheels DOI Creative Commons
Yuchen Lai,

Chuanzhen Zang,

Guoquan Luo

et al.

Science Advances, Journal Year: 2024, Volume and Issue: 10(51)

Published: Dec. 18, 2024

Multimodal microrobots are of growing interest due to their capabilities navigate diverse terrains, with promising applications in inspection, exploration, and biomedicine. Despite remarkable progress, it remains challenging combine the attributes excellent maneuverability, low power consumption, high robustness a single multimodal microrobot. We propose an architected design passively morphing wheel that can be stabilized at distinct geometric configurations, relying on asymmetric bending stiffness bioinspired tentacle structures. By integrating such wheels electromagnetic motors flexible body, we develop highly compact, lightweight, microrobot (length ~32 mm mass ~4.74 g) three locomotion gaits. It has motion speed (~21.2 BL/s), agility (relative centripetal acceleration, ~206.9 BL/s 2 ), consumption (cost transport, ~89), robustness, strong terrain adaptabilities. Integration batteries wireless control module enables developments untethered maintains agility, traveling hybrid terrains.

Language: Английский

Citations

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