Soft millirobot has attracted significant attention and demonstrated tremendous potential in humanrobot interactions and safety inspections.Locomotion and perception are two crucial features for achieving effective ga...Soft millirobot has attracted significant attention and demonstrated tremendous potential in humanrobot interactions and safety inspections.Locomotion and perception are two crucial features for achieving effective gait and practical applications of robots.Inspired by nature,this research reports a magnetic soft millirobot that integrates locomotion and sensing capacities simultaneously.Microconical matrix with rich and regular surface morphologies are constructed directly inside the millirobot as both multilegged and triboelectric-enhanced sensing structures via cooperation of jet printing and magnetization-induction method with high-speed and high-precision.The robot can both recognize its current body state across various application scenarios and identify terrains through a machine learning strategy.Our work presents a customizable approach for smart millirobots to perform tasks in nonmagnetic structured environments and provides embedded sensing capability for next-generation soft robots.展开更多
基金Supported by National Natural Science Foundation of China(Nos.52105472,62202311,52175446)Natural Science Foundation of Guangdong Province(Nos.2022A1515012007,2023A1515011512)+1 种基金Shenzhen Science and Technology Program(Nos.JCYJ20220818100001002)Excellent Science and Technology Creative Talent Training Program of Shenzhen(RCBS20221008093224017).
文摘Soft millirobot has attracted significant attention and demonstrated tremendous potential in humanrobot interactions and safety inspections.Locomotion and perception are two crucial features for achieving effective gait and practical applications of robots.Inspired by nature,this research reports a magnetic soft millirobot that integrates locomotion and sensing capacities simultaneously.Microconical matrix with rich and regular surface morphologies are constructed directly inside the millirobot as both multilegged and triboelectric-enhanced sensing structures via cooperation of jet printing and magnetization-induction method with high-speed and high-precision.The robot can both recognize its current body state across various application scenarios and identify terrains through a machine learning strategy.Our work presents a customizable approach for smart millirobots to perform tasks in nonmagnetic structured environments and provides embedded sensing capability for next-generation soft robots.
