Wireless soft millirobots for climbing three-dimensional surfaces in confined spaces.

Area of Science:

• Robotics
• Materials Science
• Biomimetics

Background:

• Untethered soft millirobots offer minimally invasive traversal of confined spaces.
• Current limitations include lack of climbing ability, controlled adhesion, and long-term retention on 3D surfaces.

Purpose of the Study:

• To develop a mechanism for untethered soft millirobots to climb 3D surfaces.
• To enable controlled adhesion and locomotion on diverse and complex terrains.

Main Methods:

• A fundamental peeling-and-loading mechanism was developed.
• External magnetic fields were used to control soft-body deformation and whole-body motion.
• Robot footpads integrated microstructured adhesives and tough bioadhesives.

Main Results:

• The developed mechanism enables vertical and inverted surface climbing on various 3D surfaces.
• Controllable adhesion and friction were achieved on soft and wet surfaces, including biological tissues.
• The robots demonstrated successful climbing on complex geometries and different surface properties.

Conclusions:

• The novel mechanism allows untethered soft millirobots to overcome limitations in climbing and adhesion.
• This advancement has significant potential for environmental inspection and minimally invasive medical procedures.
• The integration of advanced adhesives enhances robot functionality on challenging surfaces.