A parallel-legged insect-scale robot based on actuation-structure integrated origami mechanism

Insect-scale robots can access extremely confined spaces, demonstrating significant application potential in fields such as disaster relief and exploration within confined environments. Currently, the integrated fabrication and formation are still a challenge for insect-scale piezoelectric robots. In this study, we propose a 1.2 g novel parallel-legged insect-scale origami robot named PLioBot featuring an integrated origami mechanism. This integrated origami mechanism encompasses all the actuators and structures integral to the PLioBot's composition and can be readily fabricated through an improved lamination process. The PLioBot is capable of forward, backward, and turning locomotion, achieving a maximum velocity of 44.6 cm/s (17.84 body length/s) at 60 Hz. It demonstrates adaptability to traverse various surfaces and can successfully climb slopes up to 12°. The robot is able to navigate through confined spaces such as tunnels and L-shaped bends while carrying a payload of 1.4 g. Equipped with hemispherical foot mats, the PLioBot demonstrates enhanced mobility across various complex environments, including grasslands, sandy terrains, and stone surfaces. It is capable of submerged locomotion along the bottom of a fishbowl, as well as swimming on the water surface using the flipper attachment. The PLioBot, along with its integrated origami mechanism and the enhanced lamination process, offers a novel approach for the design and assembly-free fabrication of insect-scale micro robots.