Locomotion for Insect‐Scale Robots With Bionic Strategies: A Review

• Published in: Journal of field robotics Vol. 42; no. 5; pp. 1586 - 1616
• Main Authors: Zou, Wenjing, Ma, Erqi, Chen, Haolin, Lin, Feng, Xiao, Ziting, Zhang, Zezhan, Jiang, Jing, Niu, Yi, Yu, Peifeng, Wang, Chao
• Format: Journal Article
• Language: English
• Published: Hoboken Wiley Subscription Services, Inc 01.08.2025
• Subjects: Adhesion; Barriers; Bionics; bio‐inspired; Climbing; environmental adaptability; Insects; insect‐scale robot; Locomotion; Miniaturization; multi‐motion modes; Robot dynamics; Robots
• ISSN: 1556-4959; 1556-4967
• DOI: 10.1002/rob.22427

ABSTRACT Insect‐scale robots possess the advantageous traits of small size, lightweight, and high flexibility. These features make them suitable for complex, narrow, or higher‐than‐the‐ground environments, allowing these insect‐scale robots to become highly sought‐after research topics. However, the miniaturization of robots has brought challenges to improving their environmental adaptability, such as climbing and obstacle‐crossing abilities. Mainstream strategies inspired by natural creatures to address these challenges can be classified into two types: adhesion for climbing robots and multi‐motion modes for obstacle‐crossing robots. Adhesion is preferred for occasions requiring climbing slopes, walls, or ceilings. In contrast, multi‐motion modes are suitable for occasions with limited obstacle heights or complex terrains to enable miniaturization and cable‐free operation. This paper summarizes the current research on environment‐adaptable insect‐scale robots (EAISRs) with adhesion or multi‐motion modes. Then, the paper discusses the advantages, disadvantages, and application scenarios of EAISRs, including climbing robots with different adhesion strategies and obstacle‐crossing robots with various driving methods in detail. Finally, this paper proposes the future challenges and possible solutions for EAISRs, providing ideas for future interactions between insect‐scale robots and the environment.