Centimeter-Scale Reconfiguration Piezo Robots with Built-in-Ceramic Actuation Unit

Reconfigurable robots have been widely used in the fields of environmental exploration and multi-task applications, benefitting from their high adaptability and multi-functionality. The module size and reconfiguration strategy are two key factors determining the locomotion characteristics and application scenarios. Traditional reconfigurable robots face challenges in operating in narrow spaces due to the large individual modules that use complex drive and transmission mechanisms; the incompetent reconfiguration strategy limits the diversity of robot configurations and functions. Here we propose a novel high-integration module using built-in-ceramic actuation unit and construct a series of centimeter-scale piezo robots with a new reconfiguration strategy. The actuation unit achieves ultra-high locomotion speed (90.3 body length per second) and high carrying capability (31.6 times self-weight). The high-integration module, including control, communication, and power-supply units, achieves a movement speed of 590 mm per second. Multi-position magnetic connection is designed to achieve the reconfiguration among the modules, and a method is proposed to help select suitable configuration for specific requirements. Such strategy enables the centimeter-scale piezo robot to cope with various flat work scenarios and achieve wireless image capture, exhibiting great potential for different applications. This work provides inspiration for structural design and functional realization in the field of miniature reconfigurable robots.