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<p>In nature, insects can swiftly move and actively morph to adapt to complex and varied conditions. However, replicating this capability in insect-scale robots requires sophisticated structural designs, which are difficult to achieve at such a small scale without fundamental hardware innovations. This work proposes a coupling mechanism between actuation and morphing by combining an arc-heating actuator and shape memory alloy wires, presenting a fast insect-scale robot (83.4 body lengths per second) capable of active morphing and self-recovery. The arc-heating actuator is designed to provide the kinetic energy and the thermal energy essential for deforming the wires. The robot can compress its body thickness to traverse through a gap of 70% its height smoothly within 2.2 seconds and is amphibious. Furthermore, after enduring pressure 5 million times its weight, the robot is flattened, but fully recovers its original size and performance in just a few seconds.</p>

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Arc-heating actuated active-morphing insect robots

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年3月27日

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  • Jingyu Che,
  • Xiangyu Yang,
  • Jinzhe Peng,
  • Jingyi Li,
  • Zhiwei Liu,
  • Mingjing Qi

摘要

In nature, insects can swiftly move and actively morph to adapt to complex and varied conditions. However, replicating this capability in insect-scale robots requires sophisticated structural designs, which are difficult to achieve at such a small scale without fundamental hardware innovations. This work proposes a coupling mechanism between actuation and morphing by combining an arc-heating actuator and shape memory alloy wires, presenting a fast insect-scale robot (83.4 body lengths per second) capable of active morphing and self-recovery. The arc-heating actuator is designed to provide the kinetic energy and the thermal energy essential for deforming the wires. The robot can compress its body thickness to traverse through a gap of 70% its height smoothly within 2.2 seconds and is amphibious. Furthermore, after enduring pressure 5 million times its weight, the robot is flattened, but fully recovers its original size and performance in just a few seconds.