DMPBot: A high-speed, high-precision, omnidirectional, insect-scale piezoelectric robot
Yan Chen, Shu Chen, Zheyu Yang, Pengyu Liu, Sicheng Chen, Ziru Deng, Junqi An, Qiang Huang
Abstract
Microrobots have garnered significant attention due to their vast potential applications across various fields. Among various types of microrobots, piezoelectric robots stand out due to their exceptional motion accuracy, low power consumption, and simple structural design. This work introduces a novel piezoelectric microrobot, the Dual-Modal Piezoelectric Robot (DMPBot), which is fabricated with an innovative carbon fiber substrate through a heat-pressing process with a compact size of 6 mm × 9 mm × 1.1 mm and a weight of only 0.05 g. DMPBot can achieve both high-speed and high-precision motion in non-resonant mode, as well as omnidirectional movement by integrating non-resonant and resonant modes. In non-resonant mode, the robot can reach a speed of 33 mm/s (3.67 body lengths per second) and a sub-micron resolution of 0.4 μm by adjusting the applied signal. This work presents an analysis of the design, fabrication, and performance of DMPBot, focusing on its dynamic response, motion mechanisms, high-speed and high-precision motion, and omnidirectional movement capabilities. Experimental results validate the ability of DMPBot to perform high-speed, high-precision, and omnidirectional motion, demonstrating its promising potential in the field of micromanipulation.
BibTeX
@inproceedings{iros2025_dmpbotahighspeed,
title = {DMPBot: A high-speed, high-precision, omnidirectional, insect-scale piezoelectric robot},
author = {Yan Chen and Shu Chen and Zheyu Yang and Pengyu Liu and Sicheng Chen and Ziru Deng and Junqi An and Qiang Huang and Tatsuo Arai and Xiaoming Liu},
booktitle = {IROS 2025},
year = {2025}
}