Centimeter-scale robots are valued for their lightweight structure, agility, and ability to access small spaces. However, previous designs have faced limits due to electromagnetic motors and moving transmission parts, which hindered further miniaturization and introduced electromagnetic interference and wear. To overcome these challenges, the BIT team used piezoelectric materials to create a new built-in actuation system, eliminating external drive mechanisms and boosting integration.
Lead author Yu Gao explained, "Here, we propose a novel centimeter-scale quadruped piezoelectric robot with high integration and strong robustness, which promises to bring new perspectives for the construction and application of centimeter-scale robots."
The new design achieves four major breakthroughs. First, a built-in actuation method powers a 14.47-gram robot (70 mm + 13 mm + 15.8 mm) capable of speeds up to 47.38 body lengths per second, lifting loads nearly 29 times its weight, and reaching movement resolutions as fine as 0.33 micrometers. Second, the untethered version integrates actuation, control, communication, and power supply within a metal piezo unit, operating at only 10 V0-p for up to 32 minutes.
Third, the robot's structural robustness was demonstrated through extreme stress testing. It continued functioning after being stepped on by an adult weighing 66.45 kilograms - more than 3,500 times its own mass - as well as after multiple drops and kicks. Fourth, equipped with a sensor module, the robot performed real-time image grayscale conversion, object detection, and color tracking, highlighting potential applications in imaging and intelligent sensing.
According to the research team, future work will focus on improving the efficiency of built-in actuation methods and piezoelectric arrangements, integrating micro grippers for precision handling, and enhancing position feedback for greater control accuracy. The researchers believe their design provides a foundation for next-generation miniaturized robotic systems with applications in inspection, surveillance, and biomedical environments.
Research Report:A Centimeter-Scale Quadruped Piezoelectric Robot with High Integration and Strong Robustness
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Beijing Institute of Technology
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