Insect-Scale Terrestrial Robot Capable of Untethered Environmental Monitoring With Multisensors
Bibliographic record
Abstract
Here, we present a quadruped crawling mechanism to improve the payload capacity for the power and sensing autonomy of the insect-scale terrestrial robot. The robot with 4.2 cm in length is capable of navigation and real-time environmental monitoring using multiple sensors with an onboard battery. The crawling mechanism is designed based on a shape memory alloy (SMA) actuator for a high force-to-weight ratio, kinematic analysis to generate a near-straight foot trajectory, and force analysis considering the target payload (multiple sensors and battery). Furthermore, we fabricate the robot with simple design modifications allowing for improved load-bearing capacity with minimal weight increase (2.5 times the stiffness for a weight increase of 50 mg). With the high-speed actuation of the SMA, the robot is capable of locomotion at speeds up to 7.21 cm/s (1.72 body lengths per second, BL/s) with 0.23 W of average input power and its maximum payload is 20 g (ten times heavier than the body weight). The demonstration shows that the robot can traverse a confined space (height of 4 cm and width of 7 cm) and monitor the environment through multiple sensors (camera, microphone, and ToF), while operating with all functions for 12 min.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".