Effective and efficient locomotion for millimeter-sized microrobots

Autonomous mobile microrobots have the potential for use in a number of applications ranging from mobile sensor networks to search and rescue. As the size of the robot gets smaller, finding an effective and efficient means of locomotion becomes especially challenging. This paper explores the limits for locomotion efficacy and efficiency by comparing simple locomotion models. Microrobot implementation issues that are not as easily modeled are also discussed. While legs and wheels may be theoretically efficient, they are not particularly effective for moving on varied surfaces and incur large efficiency penalties when implemented. Jumping may offer the best compromise for effective and efficient locomotion in millimeter-sized microrobots.