Powerful, soft combustion actuators for insect-scale robots

• 成果类型: Article
• 署名作者: Aubin, Cameron A.; Heisser, Ronald H.; Peretz, Ofek; Timko, Julia; Lo, Jacqueline; Helbling, E. Farrell; Sobhani, Sadaf; Gat, Amir D.; Shepherd, Robert F.
• 署名单位: Cornell University; Technion Israel Institute of Technology; Cornell University
• 刊物名称: SCIENCE
• ISSN/ISSBN: 0036-11485
• DOI: 10.1126/science.adg5067
• 发表日期: 2023-09-15
• 页码: 1212-+
• 关键词: performance; DESIGN

摘要

Insects perform feats of strength and endurance that belie their small stature. Insect-scale robots-although subject to the same scaling laws-demonstrate reduced performance because existing microactuator technologies are driven by low-energy density power sources and produce small forces and/or displacements. The use of high-energy density chemical fuels to power small, soft actuators represents a possible solution. We demonstrate a 325-milligram soft combustion microactuator that can achieve displacements of 140%, operate at frequencies >100 hertz, and generate forces >9.5 newtons. With these actuators, we powered an insect-scale quadrupedal robot, which demonstrated a variety of gait patterns, directional control, and a payload capacity 22 times its body weight. These features enabled locomotion through uneven terrain and over obstacles.