Terrestrial locomotion of microscopic robots enabled by 3D nanomembranes with nonreciprocal shape morphing
Abstract
Microscopic robots exhibit efficient locomotion in liquids by leveraging fluid dynamics and chemical reactions to generate force asymmetry, thereby enabling critical applications in photonics and biomedicine. However, achieving controllable locomotion of such robots on terrestrial surfaces remains challenging because fluctuating adhesion on nonideal surfaces disrupts the necessary asymmetry for propulsion. Here, we present a microscopic robot composed of three-dimensional nanomembranes, which navigate diverse terrestrial surfaces with omnidirectional motion. We propose a general mechanism employing nonreciprocal shape morphing to generate stable asymmetric forces on surfaces. This nonreciprocal shape morphing is realized through a laser-actuated vanadium dioxide nanomembrane, leveraging the material's inherent hysteresis properties. We demonstrate that these robots can be fabricated in various shapes, ranging from simple square structures to bioinspired "bipedal" helical designs, enabling them to directionally navigate challenging surfaces such as paper, leaves, sand, and vertical walls. Furthermore, their omnidirectional motion facilitates applications in microassembly and microelectronic circuit integration. Additionally, we developed an artificial intelligence control algorithm based on reinforcement learning, enabling these robots to autonomously follow complex trajectories, such as tracing the phrase "hello world". Our study lays a theoretical and technological foundation for microscopic robots with terrestrial locomotion and paves a way for microscopic robots capable of operating on surfaces for advanced nanophotonic, microelectronic, and biomedical applications.
Article Details
Journal Info
Proceedings of the National Academy of Sciences
National Academy of Sciences
Authors (18)
Yang Wang
Xing Li
Interdisciplinary Science Center, State Key Laboratory of Animal Biodiversity Conservation and Integrated Pest Management, Institute of Zoology
Chang Liu
Yunqi Wang
International Institute of Intelligent Nanorobots and Nanosystems & State Key Laboratory of Surface Physics, College of Intelligent Robotics and Advanced Manufacturing, Fudan University
Chunyu You
International Institute of Intelligent Nanorobots and Nanosystems & State Key Laboratory of Surface Physics, College of Intelligent Robotics and Advanced Manufacturing, Fudan University
Hong Zhu
School of Life and Health Technology
Zhi Zheng
Ziyu Zhang
Guobang Jiang
International Institute of Intelligent Nanorobots and Nanosystems & State Key Laboratory of Surface Physics, College of Intelligent Robotics and Advanced Manufacturing, Fudan University
Xiang Dong
International Institute of Intelligent Nanorobots and Nanosystems & State Key Laboratory of Surface Physics, College of Intelligent Robotics and Advanced Manufacturing, Fudan University
Tianjun Cai
International Institute of Intelligent Nanorobots and Nanosystems & State Key Laboratory of Surface Physics, College of Intelligent Robotics and Advanced Manufacturing, Fudan University
Ziao Tian
State Key Laboratory of Materials for Integrated Circuits, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences
Zengfeng Di
State Key Laboratory of Materials for Integrated Circuits, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences
Gaoshan Huang
International Institute of Intelligent Nanorobots and Nanosystems & State Key Laboratory of Surface Physics, College of Intelligent Robotics and Advanced Manufacturing, Fudan University
Xiangzhong Chen
International Institute of Intelligent Nanorobots and Nanosystems & State Key Laboratory of Surface Physics, College of Intelligent Robotics and Advanced Manufacturing, Fudan University
Enming Song
Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and Perception, Institute of Optoelectronics
Jizhai Cui
International Institute of Intelligent Nanorobots and Nanosystems & State Key Laboratory of Surface Physics, College of Intelligent Robotics and Advanced Manufacturing, Fudan University
Yongfeng Mei
International Institute of Intelligent Nanorobots and Nanosystems & State Key Laboratory of Surface Physics, College of Intelligent Robotics and Advanced Manufacturing, Fudan University