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Updated: Jul 29, 2025

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Water Skating Miniature Robot Propelled by Acoustic Bubbles.

Hyeonseok Song1, Daegeun Kim2, Sangkug Chung3

  • 1Department of Mechanical Engineering, Ulsan National Institute of Science and Technology, Ulsan 44919, Republic of Korea.

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This study introduces a miniature water-skating robot for environmental monitoring. It uses acoustic bubble-induced microstreaming for propulsion, enabling exploration of complex aquatic environments.

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Area of Science:

  • Robotics
  • Microfluidics
  • Acoustic Engineering

Background:

  • Miniature robots are crucial for exploring confined and hazardous environments.
  • Surface tension and microfluidic phenomena offer unique propulsion opportunities.

Purpose of the Study:

  • To design and demonstrate a miniature robot capable of skating on water.
  • To investigate acoustic bubble-induced microstreaming for robot propulsion and maneuverability.

Main Methods:

  • Fabrication of a miniature robot using extruded polystyrene insulation (XPS) and Teflon tubes.
  • Generation of propulsion via acoustic excitation of trapped gaseous bubbles, inducing microstreaming.
  • Systematic testing of linear and rotational motion at varying frequencies and voltages.

Main Results:

  • Propulsion velocity is directly proportional to applied voltage.
  • Optimal propulsion occurs at specific resonant frequencies, dependent on bubble volume and tube length.
  • Demonstrated selective bubble excitation for controlled maneuvering and 2D navigation.

Conclusions:

  • The water-skating robot effectively utilizes acoustic microstreaming for locomotion.
  • The robot exhibits controllable linear, rotational, and 2D navigation capabilities.
  • This technology is promising for environmental monitoring in small, complex aquatic settings.