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Soft compliant microrobots have the potential to deliver significant societalimpact when deployed in applications such as search and rescue. In thisresearch we present mCLARI, a body compliant quadrupedal microrobot of 20mmneutral body length and 0.97g, improving on its larger predecessor, CLARI. Thisrobot has four independently actuated leg modules with 2 degrees of freedom,each driven by piezoelectric actuators. The legs are interconnected in a closedkinematic chain via passive body joints, enabling passive body compliance forshape adaptation to external constraints. Despite scaling its largerpredecessor down to 60 percent in length and 38 percent in mass, mCLARImaintains 80 percent of the actuation power to achieve high agility.Additionally, we demonstrate the new capability of passively shape-morphingmCLARI - omnidirectional laterally confined locomotion - and experimentallyquantify its running performance achieving a new unconstrained top speed of 3bodylengths/s (60 mms-1). Leveraging passive body compliance, mCLARI cannavigate through narrow spaces with a body compression ratio of up to 1.5x theneutral body shape.

mCLARI: a shape-morphing insect-scale robot capable of omnidirectional terrain-adaptive locomotion in laterally confined spaces