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.