Asymmetries-induced nonlinear dynamic behaviors enable versatile modulation strategy for insect-scale robotics.

Area of Science:

• Robotics
• Bio-inspired Engineering
• Nonlinear Dynamics

Background:

• Developing versatile insect-scale robots for unstructured environments is challenging.
• Existing designs often lack adaptability and simplicity.
• Need for robots capable of complex locomotion and environmental interaction.

Purpose of the Study:

• Introduce a novel insect-scale robot driven by a single electromagnetic actuator.
• Demonstrate versatile locomotion and response to challenging scenarios through asymmetric design.
• Establish a nonlinear dynamic model for behavior modulation and design optimization.

Main Methods:

• Integrating geometric and mass asymmetries into a deformable hexagonal frame.
• Utilizing nonlinear dynamic behaviors induced by asymmetric configuration.
• Developing a nonlinear dynamic model to map motion behaviors to input parameters.

Main Results:

• Achieved complex actions: forward/backward locomotion, active flipping, and lateral movement.
• Demonstrated response to challenging scenarios like granular media and safe landing via posture transitions.
• Successfully constructed an untethered prototype for outdoor operation.

Conclusions:

• The asymmetric design enables versatile locomotion and adaptability in insect-scale robots.
• The nonlinear dynamic model aids in optimizing robot behavior and design.
• The developed robot shows potential for practical applications in unstructured and outdoor environments.