Multimodal microrobots are of growing interest due to their capabilities to navigate diverse terrains, with promising applications in inspection, exploration, and biomedicine. Despite remarkable progress, it remains challenging to combine the attributes of excellent maneuverability, low power consumption, and high robustness in a single multimodal microrobot. We propose an architected design of a passively morphing wheel that can be stabilized at distinct geometric configurations, relying on asymmetric bending stiffness of bioinspired tentacle structures. By integrating such wheels with electromagnetic motors and a flexible body, we develop a highly compact, lightweight, multimodal microrobot (length ~32 mm and mass ~4.74 g) with three locomotion gaits. It has high motion speed (~21.2 BL/s), excellent agility (relative centripetal acceleration, ~206.9 BL/s 2 ), low power consumption (cost of transport, ~89), high robustness, and strong terrain adaptabilities. Integration of batteries and a wireless control module enables developments of an untethered microrobot that maintains high motion speed and excellent agility, with capabilities of traveling in hybrid terrains.

中文翻译：

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一个敏捷的多模态微型机器人，带有构建的被动变形轮子


多模态微型机器人因其能够在不同地形中导航而受到越来越多的关注，在检查、勘探和生物医学方面具有广阔的应用前景。尽管取得了显著进展，但将出色的可操作性、低功耗和高稳健性等特性结合在单个多模态微型机器人中仍然具有挑战性。我们提出了一种被动变形轮的架构设计，该轮子可以依靠仿生触手结构的不对称弯曲刚度在不同的几何配置下稳定。通过将这种轮子与电磁电机和柔性体集成在一起，我们开发了一种高度紧凑、轻便的多模态微型机器人（长度 ~32 毫米，质量 ~4.74 克），具有三种运动步态。它具有高运动速度 （~21.2 BL/s）、出色的敏捷性（相对向心加速度，~206.9 BL/s 2）、低功耗（运输成本，~89）、高稳健性和强大的地形适应性。电池和无线控制模块的集成使无线微型机器人的开发成为可能，该机器人保持高运动速度和出色的敏捷性，并能够在混合地形中行驶。