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Locomotion of Miniature Soft Robots
Chelsea Shan Xian Ng1, Matthew Wei Ming Tan2, Changyu Xu1
1School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore.
Advanced Materials (Deerfield Beach, Fla.)
|December 18, 2020
Summary
Miniature soft robots offer noninvasive access to confined spaces. This review highlights advancements and challenges in their locomotion, aiming to enhance agility for diverse applications.
Area of Science:
- Robotics
- Materials Science
- Biomedical Engineering
Background:
- Miniature soft robots utilize smart materials actuated by external stimuli for mobility.
- Their small size (micro- to centimeter scales) enables access to confined environments.
- Dexterous locomotion is crucial for applications like minimally invasive surgery and lab-on-chip systems.
Purpose of the Study:
- To review key advancements in miniature soft robot locomotion.
- To identify challenges hindering the performance of these robots.
- To inspire future strategies for enhancing robot agility.
Main Methods:
- Categorization of miniature soft robot gaits into terrestrial, aquatic, and aerial locomotion.
- Focus on micro- to millimeter scale robots, excluding centimeter-scale aerial robots.
- Discussion of prospective methods to improve gait performance within each category.
Main Results:
- Highlighting current capabilities and limitations in miniature soft robot locomotion.
- Analyzing strategies for enhancing terrestrial, aquatic, and aerial gaits.
- Identifying areas for future research and development.
Conclusions:
- Miniature soft robots possess transformative potential across various fields.
- Improving locomotive gaits is essential for maximizing their utility.
- Further research can lead to significantly more agile miniature soft robots.
