Enabling Power and Control Autonomy for Insect Scale Robo-Physical Models

Bioinspired insect sized robots can not only emulate the remarkable locomotory capabilities of their animal counterparts, but can also serve as effective "at scale" robo-physical models for discovering novel biomechanical principles and validating their underlying physical mechanisms. The limited applicability of readily available off-the-shelf technologies -- which enable sensing, control and power autonomy at this scale -- is a major factor limiting progress of insect scale robo-physical models and experiments. In this work, we have devised modular and scalable solutions for our insect scale robo-physical model CLARI (compliant legged articulated robot insect). We demonstrate long term untethered operation through wireless energy harvesting and distributed control using custom high voltage smart piezoactuator driver modules. With these developments, we hope to use CLARI to test hypotheses about terradynamic streamlining and energy landscape optimization for locomotion in cluttered terrain, while contributing technologies that foster accelerated progress in the interdisciplinary fields of physics, biology and engineering through open source designs and documentation.