Multimodal Locomotion and Cargo Transportation of Magnetically Actuated Quadruped Soft Microrobots  

作　　者：Chenyang Huang Zhengyu Lai Xinyu Wu Tiantian Xu 

机构地区：[1]Guangdong Provincial Key Lab of Robotics and Intelligent System,Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518055,China [2]SIAT Branch,Shenzhen Institute of Artificial Intelligence and Robotics for Society,Shenzhen 518055,China [3]University of Chinese Academy of Sciences,Beijing 100049,China

出　　处：《Cyborg and Bionic Systems》2022年第1期12-21,共10页类生命系统（英文）

基　　金：supported in part by National Key Re search and Development Project under Grant SQ2020YFB130100;in part by the National Natural Science Foundation of China under Grants 62022087 and U22A2064;in part by the Shenzhen Science and Technology Innovation Commission under Shenzhen Fundamental Research Program under Grant JCYJ20220818101611025;in part by the Youth In novation Promotion Association of CAS,in part by the Special Support Project for Outstanding Young Scholars of Guangdong Province under Grant 2019TQ05X933;in part by the CAS-Croucher Funding Scheme for Joint Laboratories under Grant 172644KYSB20200044;the Croucher Foundation Grant with reference no.CAS20403;in part by the Shenzhen Institute of Artificial Intelligence and Robotics for Society,in part by DMETKF2022008;in part by SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems.

摘　　要：Untethered microrobots have attracted extensive attention due to their potential for biomedical applications and micromanipulation at the small scale.Soft microrobots are of great research importance because of their highly deformable ability to achieve not only multiple locomotion mechanisms but also minimal invasion to the environment.However,the existing microrobots are still limited in their ability to locomote and cross obstacles in unstructured environments compared to conventional legged robots.Nature provides much inspiration for developing miniature robots.Here,we propose a bionic quadruped soft thin-film microrobot with a nonmagnetic soft body and 4 magnetic flexible legs.The quadruped soft microrobot can achieve multiple controllable locomotion modes in the external magnetic field.The experiment demonstrated the robot’s excellent obstacle-crossing ability by walking on the surface with steps and moving in the bottom of a stomach model with gullies.In particular,by controlling the conical angle of the external conical magnetic field,microbeads gripping,transportation,and release of the microrobot were demonstrated.In the future,the quadruped microrobot with excellent obstacle-crossing and gripping capabilities will be relevant for biomedical applications and micromanipulation.

关 键 词：robot OBSTACLE STEPS 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]