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
AI总结：
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。
摘要：
软体柔顺微型机器人在搜救等应用场景中部署时，具备产生重大社会影响的潜力。本研究提出了mCLARI，这是一款中性体长20毫米、重量0.97克的身体柔顺四足微型机器人，是对其体型更大的前代机器人CLARI的改进。该机器人拥有四个独立驱动的2自由度腿部模块，每个模块均由压电致动器驱动。各腿部通过被动身体关节连接成闭合运动链，可实现被动身体柔顺性，从而根据外部约束调整自身形状。尽管mCLARI的体长仅为前代的60%、质量仅为前代的38%，但它保留了前代80%的驱动功率以实现高敏捷性。此外，我们展示了被动可变形mCLARI的新能力——全向侧向受限运动，并通过实验量化其运动性能：其无约束最高速度可达3体长/秒（60毫米/秒）。借助被动身体柔顺性，mCLARI能够在狭窄空间中穿行，身体压缩率最高可达中性身体形态的1.5倍。
英文摘要：
Soft compliant microrobots have the potential to deliver significant societal impact when deployed in applications such as search and rescue. In this research we present mCLARI, a body compliant quadrupedal microrobot of 20mm neutral body length and 0.97g, improving on its larger predecessor, CLARI. This robot has four independently actuated leg modules with 2 degrees of freedom, each driven by piezoelectric actuators. The legs are interconnected in a closed kinematic chain via passive body joints, enabling passive body compliance for shape adaptation to external constraints. Despite scaling its larger predecessor down to 60 percent in length and 38 percent in mass, mCLARI maintains 80 percent of the actuation power to achieve high agility. Additionally, we demonstrate the new capability of passively shape-morphing mCLARI - omnidirectional laterally confined locomotion - and experimentally quantify its running performance achieving a new unconstrained top speed of 3 bodylengths/s (60 mms-1). Leveraging passive body compliance, mCLARI can navigate through narrow spaces with a body compression ratio of up to 1.5x the neutral body shape.
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