Asymmetries-induced nonlinear dynamic behaviors enable a versatile modulation strategy for insect-scale robotics

Developing versatile insect-scale robots that can handle various unstructured scenarios with a simple design remains a critical challenge. Herein, we introduce a single electromagnetic actuator-driven insect-scale robot, developed by integrating geometric and mass asymmetries into a deformable hexagonal frame. This asymmetric configuration induces nonlinear dynamic behaviors in the robot, allowing it to perform a variety of complex actions (e.g., forward and backward locomotion, active flipping, and lateral movement) and respond to challenging scenarios (e.g., granular media and safe landing) through posture transitions. To facilitate the behavior modulation and design optimization of the proposed insect-scale robot, a nonlinear dynamic model is established to map the relationship between motion behaviors and input parameters. Finally, an untethered prototype that can work in outdoor environments is constructed to further demonstrate the practical applications.
, , # Asymmetries-induced nonlinear dynamic behaviors enable a versatile modulation strategy for insect-scale robotics

Dataset DOI: [10.5061/dryad.bcc2fqzrf](10.5061/dryad.bcc2fqzrf)

## Description of the data and file structure

The experimental efforts aim to analyze the dynamic behavior of a multi-mass mechanical system under periodic forcing and frictional interactions.

Investigating how **applied force magnitude** (`F1_magnitude`), **friction coefficient** (`mu`), and **frequency** (`f`) influence the system’s centroid displacement direction (positive proportion).

1. Visualizing motion patterns through **displacement time-series** and **phase space trajectories** to understand coupling dynamics between masses (m1, m2, m3) connected by springs/dampers with friction at contact points.
2. Validating theoretical models of nonlinear mechanical systems under excitation.
3. Calculating forward and backward speed by constructing a specific dynamic model.

### Files and variables

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