An agile multimodal microrobot with architected passively morphing wheels.

Area of Science:

• Robotics
• Biomimetics
• Materials Science

Background:

• Multimodal microrobots are crucial for inspection, exploration, and biomedicine.
• Current microrobots face challenges in combining maneuverability, low power consumption, and robustness.
• Bioinspired designs offer potential solutions for enhanced microrobot capabilities.

Purpose of the Study:

• To develop a compact, lightweight multimodal microrobot with enhanced locomotion capabilities.
• To address the limitations of existing microrobots in terms of speed, agility, and terrain adaptability.
• To create a passively morphing wheel mechanism for versatile gaits.

Main Methods:

• Architected design of a passively morphing wheel utilizing asymmetric bending stiffness of bioinspired tentacle structures.
• Integration of morphing wheels with electromagnetic motors and a flexible body.
• Development of a compact, lightweight microrobot (32 mm, 4.74 g) with wireless control and battery integration.

Main Results:

• The microrobot exhibits three distinct locomotion gaits.
• Achieved high motion speed (~21.2 BL/s) and excellent agility (~206.9 BL/s^2).
• Demonstrated low power consumption (~89 cost of transport), high robustness, and strong terrain adaptability, including hybrid terrains.

Conclusions:

• The proposed microrobot design successfully integrates high maneuverability, low power consumption, and robustness.
• The passively morphing wheel is key to achieving versatile locomotion and terrain adaptability.
• Untethered operation with maintained performance opens new possibilities for microrobot applications.