Scaling down an insect-size microrobot, HAMR-VI into HAMR-Jr

An Insect-scale Untethered Laser-powered Jumping Microrobot

We present the design of an insect-sized jumping microrobot measuring 17mm$\times$6mm$\times$14mm and weighing 75 milligrams. The microrobot consumes 6.4mW of power to jump up by 8mm in height. The tethered version of the robot can jump 6 times per minute each time landing perfectly on its feet. The untethered version of the robot is powered using onboard photovoltaic cells illuminated by an external infrared laser source. It is, to the best of our knowledge, the lightest untethered jumping microrobot with onboard power source that has been reported yet.

An Insect-scale Self-sufficient Rolling Microrobot

We design an insect-sized rolling microrobot driven by continuously rotating wheels. It measures 18mm$\times$8mm$\times$8mm. There are 2 versions of the robot - a 96mg laser-powered one and a 130mg supercapacitor powered one. The robot can move at 27mm/s (1.5 body lengths per second) with wheels rotating at 300$^\circ$/s, while consuming an average power of 2.5mW. Neither version has any electrical wires coming out of it, with the supercapacitor powered robot also being self-sufficient and is able to roll freely for 8 seconds after a single charge. Low-voltage electromagnetic actuators (1V-3V)…

Design of the First Insect-scale Spinning-wing Robot

Here we present the design of an insect-scale microrobot that generates lift by spinning its wings. This is in contrast to most other microrobot designs at this size scale which rely on flapping wings to produce lift. The robot has a wing span of 4 centimeters and weighs 133 milligrams. It spins its wings at 47 revolutions/second generating $>$ 138 milligrams of lift while consuming approximately 60 milliwatts of total power and operating at a low voltage ($<$ 3 V). Of the total power consumed 8.8 milliwatts is mechanical power generated, part of which goes towards spinning the wings, and 51 m…

Bee$^+$: A 95-mg Four-Winged Insect-Scale Flying Robot Driven by Twinned Unimorph Actuators

We introduce Bee$^+$, a 95-mg four-winged microrobot with improved controllability and open-loop-response characteristics with respect to those exhibited by state-of-the-art two-winged microrobots with the same size and similar weight (i.e., the 75-mg Harvard RoboBee). The key innovation that made possible the development of Bee$^+$ is the introduction of an extremely light (28-mg) pair of twinned unimorph actuators, which enabled the design of a new microrobotic mechanism that flaps four wings independently. A first main advantage of the proposed design, compared to those of two-winged flyers…

甲虫与扑翼微型机器人的被动翅膀展开与收回

Passive wing deployment and retraction in beetles and flapping microrobots

该研究结合高速观测与机器人模型，揭示独角仙后翅展开和收回依赖鞘翅与扑动产生的被动机制，并以此实现微型扑翼机器人的被动展翅与收翼。

mCLARI：一种可在侧向受限空间内实现全向地形自适应运动的可变形昆虫尺度机器人

mCLARI: a shape-morphing insect-scale robot capable of omnidirectional terrain-adaptive locomotion in laterally confined spaces

针对搜救等场景的狭窄空间穿行需求，本文提出改进自CLARI的微型四足机器人mCLARI，通过被动柔顺闭合运动链结构实现可变形全向受限运动，在大幅缩小体积重量的同时保持高敏捷性与穿行能力。