Tao Jiang

High nonlinearity and limited computational resources create persistent challenges for achieving autonomous, stable, and accurate locomotion in insect-scale crawling robots, hindering their practical deployment. In this study, we build the mathematical models of the insect-scale micro crawling robot named PLioBot and propose a locomotion control strategy that eliminates the need for gait transitions. The locomotion transformation of the PLioBot prototype, from driving inputs to mechanical motion outputs, is decomposed into multiple motion processes. This study analyzes the theoretical models underlying these motion processes and develops the locomotion simulation model for the PLioBot based on the mathematical models and the multibody dynamics simulation tool. The locomotion control strategy with low computational requirements is designed based on a closed-loop PID controller, which regulates the robot’s locomotion by independently adjusting the step lengths of its left and right legs. The locomotion co-simulation system is established to validate the control strategy. The simulation results confirm that this control strategy enables the PLioBot to perform straight-line locomotion and turning without requiring any gait transition.

This paper presents a load-capacity-constrained arm-angle planning method for a centrally driven humanoid robotic arm. Joint-range and singularity constraints are projected into the one-dimensional arm-angle domain to form a geometric feasible set. A static load-capacity constraint is derived from gravity torque, the Jacobian-transpose mapping of a known endpoint load, and individual actuator-torque limits, and is projected into the same domain. Continuous arm-angle values are then selected along a prescribed Cartesian path within the intersection of the geometric and mechanical feasible sets. In a heavy-load simulation, the maximum output-power metric decreased by 13.3%, and the energy value decreased from 30.60 J to 22.95 J (25.0%). In a prototype proof-of-principle test with a 13 N payload (approximately 1.33 kg), each trajectory was executed three times; the controller-recorded shoulder peak was approximately 1.83% lower, and the recorded energy value decreased from 30.378 J to 28.85 J (5.03%). The prototype values are descriptive because run-level statistics and measurement uncertainty are unavailable, and the experiment covers only one payload and one path. The results support the proposed static, load-capacity-aware planning principle for the tested slow-motion conditions but do not establish general performance or real-time suitability.

Aiming to develop high-performance flexible electrode materials for dielectric elastomer actuation systems applied to micro-crawling robots, this study proposes multi-dimensional filler composite electrode materials with a methyl vinyl silicone rubber matrix. Three types of conductive fillers—namely, zero-dimensional super-conductive carbon black, one-dimensional single-walled carbon nanotubes, and two-dimensional flaky micron-sized silver powder—were employed to construct a hierarchical multi-dimensional conductive network within the silicone rubber matrix via a three-stage fabrication strategy. The electrical conductivity and conductive stability of the as-prepared composite electrode materials were systematically investigated, where the intrinsic mechanisms and evolutionary laws of material electrical performance variations were analyzed. Furthermore, the effects of fillers with different dimensional morphologies on the comprehensive properties of the composites at each fabrication stage were explored, and the optimal filler dosage for each component was determined. Microstructural observations of the staged conductive network formation further verified the rationality of the stage-based functional design model. The optimized composite electrode delivers an initial electrical conductivity of 1.5 × 10⁴ S/m, with only a 14.9% conductivity attenuation under 50% tensile strain, demonstrating excellent electromechanical stability. Moreover, a prototype micro-crawling robot was fabricated using the optimized composite electrode, achieving a maximum linear crawling speed of 8 mm/s. These experimental results validate the feasibility and superiority of the proposed multi-dimensional filler composite strategy. This work provides a novel technical approach for the design and development of high-performance flexible electrode materials for flexible electronic and micro-robotic actuation applications.

The scaling effects make energy supply a fundamental challenge for achieving autonomy in insect‐scale robotics. Inspired by the multifunctionality of biological tissue, dual‐function structural‐electrochemical integration based on a microfluidic aluminum‐air battery (MFAAB) paves a promising path toward energy autonomy in insect‐scale robotics. However, suboptimal mono‐surface anode utilization and restricted microfluidic transport dynamics of conventional AABs accelerate passivation and byproduct accumulation, hindering output performance. Here, we proposed and developed a centimeter‐size MFAAB with dual reaction surfaces for anode, and decompose byproduct accumulation via F ⁻ . Owing to the novel structural configuration and electrolyte optimization, it achieves a high capacity of 2697.05 mAh/g _Al . The developed MFAABs demonstrate operational capacities of tens of milliwatts, successfully powering LEDs, DC motors, and electric toy car. We demonstrate the first successful integration of Al‐air batteries with insect‐scale robots through a structural‐electrochemical co‐design framework, harnessing energy weight proportion of 51.38%, achieving dual energy‐storage and electromechanical actuation functions for self‐sustaining operation. The integrated system simultaneously serves as a body‐conforming structural power source while exhibiting 2.56‐fold and 1.85‐fold higher endurance than a commercial lithium‐polymer (401015) and two series‐connected alkaline button batteries (LR44), respectively.

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.