Multidirectional Planar Motion Transmission on a Single‐Motor Actuated Robot via Microscopic Galumphing

Abstract

AbstractInsect‐scale mobile robots can execute diverse arrays of tasks in confined spaces. Although most self‐contained crawling robots integrate multiple actuators to ensure high flexibility, the intricate actuators restrict their miniaturization. Conversely, robots with a single actuator lack the requisite agility and precision for planar movements. Herein, a novel eccentric rotation‐dependent multidirectional transmission is presented using a tilted eccentric motor and a simplistic two‐legged structural configuration for planar locomotion. The speed of the eccentric motor is modulated to enable alternating microscopic jumps to propel the system, creating a mode of motion analogous to galumphing of seals. Upon modeling the motion dynamics and conducting experiments, the effectiveness of direct motion transmission is substantiated through microscopic galumphing encompassing left/right crawling and straight‐forward crawling. Finally, a 1.2 g untethered robot is developed, which demonstrates enhanced straight crawling and spot turning, traverses narrow tunnels, and achieves precise movements. Therefore, the proposed motion‐transmission technique provides a comprehensive set of innovative solutions of underactuated agile robots.