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Electrostatic footpads enable agile insect-scale soft robots with trajectory control.

Jiaming Liang1,2,3, Yichuan Wu4, Justin K Yim5

  • 1Tsinghua-Berkeley Shenzhen Institute, Tsinghua University, Shenzhen 518055, China.

Science Robotics
|July 1, 2021
PubMed
Summary

This study presents an insect-scale soft robot capable of high-speed movement and precise trajectory control. The novel design achieves agility surpassing common insects, paving the way for advanced soft robotics applications.

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Area of Science:

  • Robotics
  • Materials Science
  • Biomimetics

Background:

  • Soft robots lack the rigid structures needed for agile manipulation.
  • Achieving high speed and precise control in soft robots is a significant challenge.

Purpose of the Study:

  • To develop an insect-scale soft robot with enhanced agility and trajectory control.
  • To demonstrate the robot's capability for complex navigation and payload carrying.

Main Methods:

  • Utilized a curved piezoelectric thin film for translational motion at resonant frequency.
  • Employed electrostatic footpads for swift rotational movements.
  • Integrated a simplified analog motion adjustment technique for control.

Main Results:

  • Achieved a high relative centripetal acceleration (28 body length/s²) surpassing common insects.
  • Successfully navigated a 120 cm maze in 5.6 seconds.
  • Developed an untethered robot carrying a 1660 mg payload, following an "S"-shaped path in 36.9 seconds.

Conclusions:

  • The developed soft robot demonstrates high mobility and agility, emulating living insects.
  • The design offers a pathway for scalable, high-performance soft robotic systems.
  • Potential applications include environmental monitoring and complex task execution.