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The miniaturization of robots with locomotion abilities is a challenge of significant technological impact in many applications where large-scale robots have physical or cost restrictions. Access to hostile environments, improving microfabrication processes, or advanced instrumentation are examples of their potential use. Here, we propose a miniature 20 mm long sub-gram robot with piezoelectric actuation whose direction of motion can be controlled. A differential drive approach was implemented in an H-shaped 3D-printed motor platform featuring two plate resonators linked at their center, with built-in legs. The locomotion was driven by the generation of standing waves on each plate by means of piezoelectric patches excited with burst signals. The control of the motion trajectory of the robot, either translation or rotation, was attained by adjusting the parameters of the actuation signals such as the applied voltage, the number of applied cycles, or the driving frequency. The robot demonstrated locomotion in bidirectional straight paths as long as 65 mm at 2 mm/s speed with a voltage amplitude of only 10 V, and forward and backward precise steps as low as 1 µm. The spinning of the robot could be controlled with turns as low as 0.013 deg. and angular speeds as high as 3 deg./s under the same conditions. The proposed device was able to describe complex trajectories of more than 160 mm, while carrying 70 times its own weight.

3D-Printed Miniature Robots with Piezoelectric Actuation for Locomotion and Steering Maneuverability Applications