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<p>Miniaturization, rapid movement, and high adaptability are conflicting yet critical factors in amphibious robot design. Coordinating these aspects through structural optimization remains challenging. Inspired by scurrying lizards, we propose a novel miniature amphibious piezoelectric robot (LAPR). By coupling the bending vibration modes of a hollow stepped piezoelectric beam, elliptical trajectories are generated to rotate the propeller, enabling the robot’s amphibious locomotion. More importantly, we present a general theoretical modeling and optimization approach for miniature piezoelectric robots with beam configurations. Compared with the finite element results, the proposed method reduces the computation time by 99.89%. The fabricated prototype features a compact structure, measuring 63 mm × 85 mm × 30 mm and weighing 16 g. The LAPR achieves terrestrial and aquatic speeds of 938.3 and 94.3 mm/s, respectively. Notably, its instantaneous speed on land reaches 1.05 m/s, approximately 16 body lengths per second. The motion resolution under the pulse excitation scheme is 3 mm. The robot can carry a maximum payload of 100 g, which is 6.25 times its own weight. Furthermore, the LAPR demonstrates excellent environmental adaptability and successfully performs confined-space detection tasks. Overall, this study offers a novel design paradigm for miniature amphibious robots from theoretical and technical perspectives.</p>

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Design, modeling, and experimental investigation of a miniature amphibious piezoelectric robot inspired by scurrying lizards

  • 期刊论文

  • 发表日期：

    2025年11月24日

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  • Binbin Zhu,
  • Chenhui Fan,
  • Yufei Peng,
  • Yimu Guo,
  • Chaofeng Li,
  • Yanqing Wang

摘要

Miniaturization, rapid movement, and high adaptability are conflicting yet critical factors in amphibious robot design. Coordinating these aspects through structural optimization remains challenging. Inspired by scurrying lizards, we propose a novel miniature amphibious piezoelectric robot (LAPR). By coupling the bending vibration modes of a hollow stepped piezoelectric beam, elliptical trajectories are generated to rotate the propeller, enabling the robot’s amphibious locomotion. More importantly, we present a general theoretical modeling and optimization approach for miniature piezoelectric robots with beam configurations. Compared with the finite element results, the proposed method reduces the computation time by 99.89%. The fabricated prototype features a compact structure, measuring 63 mm × 85 mm × 30 mm and weighing 16 g. The LAPR achieves terrestrial and aquatic speeds of 938.3 and 94.3 mm/s, respectively. Notably, its instantaneous speed on land reaches 1.05 m/s, approximately 16 body lengths per second. The motion resolution under the pulse excitation scheme is 3 mm. The robot can carry a maximum payload of 100 g, which is 6.25 times its own weight. Furthermore, the LAPR demonstrates excellent environmental adaptability and successfully performs confined-space detection tasks. Overall, this study offers a novel design paradigm for miniature amphibious robots from theoretical and technical perspectives.