ArticleScience advances2024
Forward and backward control of an ultrafast millimeter-scale microrobot via vibration mode transition.
Article in Science advances, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 7 papers.
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Who cites it
7 citing papers in PubMed.
- Geometry-controlled instability pathway selection in elastic helices enables fast, efficient robotic locomotion.Science advances · 2026Article
- An Embodied Paper-Based Microfluidic Al-Air Battery for Enduring Untethered Insect-Scale Robots.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Fish-diversity-inspired multiple soft millirobot system with morphology-encoded selective control.Science advances · 2026Article
- Inertia-driven amphibious robot with asymmetric microundulatory fin arrays.Science advances · 2026Article
- Asymmetries-induced nonlinear dynamic behaviors enable versatile modulation strategy for insect-scale robotics.Science advances · 2025Article
- An Ultrasonic Microrobot Enabling Ultrafast Bidirectional Navigation in Confined Tubular Environments.Nano-micro letters · 2025Article
- Untethered soft microrobot driven by a single actuator for agile navigations.Nature communications · 2025Article
Corrections and comments
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Authors and funding
10 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
The ability to move backward is crucial for millimeter-scale microrobots to navigate dead-end tunnels that are too narrow to allow for turning maneuvers. In this study, we introduce a 15-mm-long legged microrobot, BHMbot-B, which is capable of rapid forward and backward locomotion through vibration mode transition control. By properly arranging the vibratory motions of the magnet, cantilever, and linkages, the pitching movement of the body and the vibration of the forelegs are in phase during the first-order vibration mode of the cantilever and in antiphase during the second-order mode, which induces the forward and backward movement of the microrobot. Owing to its outstanding load-bearing capacity, the BHMbot-B equipped with dual electromagnetic actuators, an onboard battery, and a control circuit, can execute complex running trajectories under wireless command. Its maximum untethered running speeds are evaluated as 18.0 BL/s (360 mm/s) in the forward direction and 16.9 BL/s (338 mm/s) in the backward direction.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.