Evidence map›Paper›PMID 42764345›Full record

ArticleMicrosystems & nanoengineering2026

Bio-inspired functional recursion enables multi-mode locomotion in a 140-mg morphing microrobot.

Yunfei Wang, Zhonglai Wang, Zequn Wang, Yichuan Wu, Shan Lu, Wei Zhang, Yi Guan, Pengpeng Zhi, Zhibo Geng, Huanwei Xu and 2 more

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in Microsystems & nanoengineering, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it
0cells of the map it votes in
0citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

12 authors.

Yunfei WangSchool of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu, China.
Zhonglai WangSchool of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu, China. wzhonglai@uestc.edu.cn.
Zequn WangSchool of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu, China.
Yichuan WuSchool of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu, China.
Shan LuSchool of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu, China.
Wei ZhangSchool of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu, China.
Yi GuanSchool of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu, China.
Pengpeng ZhiYangtze Delta Region Institute (Huzhou), University of Electronic Science and Technology of China, Huzhou, China.
Zhibo GengSchool of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu, China.
Huanwei XuSchool of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu, China.
Junfu ZhangSchool of Mechanical Engineering, Xihua University, Chengdu, China.
Yaoming FuCollege of Aviation Engineering, Civil Aviation Flight University of China, Chengdu, China.

Funding

National Natural Science Foundation of China (National Science Foundation of China) 52375234
6 · The paper itself

Abstract

Insects traverse diverse environments by reusing body structures and appendages through adaptable mechanics, an ability that remains a grand challenge for insect-scale robotics under strict mass constraints. Here we present an insect‑scale robot that integrates aerial takeoff and open-loop attitude modulation, terrestrial crawling, water-surface gliding, and electrowetting-triggered controlled immersion within a 140-mg platform, with these capabilities demonstrated as representative open-loop functional tests rather than a single continuous autonomous mission. Moving beyond actuator‑heavy designs, the robot encodes structural intelligence in a single multifunctional morphing frame driven by shape-memory alloy artificial muscles. This morphing body reconfigures to take on distinct roles across diverse environments: it acts as a steering transmission for asymmetric flapping-wing kinematics, a linear oscillator for terrestrial crawling through anisotropic friction, and a deformation actuator that tunes kirigami-inspired footpad gaps for interfacial support and immersion control. Footpad modulation enables active electrowetting, rupturing the water surface at 225 V to achieve controlled immersion and increasing load capacity to 1.7 × body weight. By integrating soft actuation, structural mechanics, and interfacial control into one reconfigurable structure, this work establishes a paradigm of functional recursion, where a minimal physical platform repeatedly reassigns form and function, addressing the fundamental trade-off between operational diversity and extreme miniaturization.

Identifiers

PMID42764345
PMCPMC13590654

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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.