RoboFly: An Insect-Sized Robot With Simplified Fabrication That Is Capable of Flight, Ground, and Water Surface Locomotion

Insect-sized ( $\sim$ 100 mg) aerial robots have advantages over larger because of their small size, low weight, and materials cost. Previous iterations demonstrated controlled flight but were difficult to fabricate they consisted many separate parts assembled together also unable perform locomotion modes besides flight. This article presents a new design 74-mg flapping-wing robot that dramatically reduces the number simplifies fabrication. The has lower center mass, which allows additionally land without need for long legs, even in case unstable We show wing-driven ground air–water interfacial locomotion, improving versatility robot. During surface ambulation, forward thrust is generated by increasing speed upstroke relative downstroke flapping wings. Adjusting wing stroke amplitudes steering. ability subsequently move along first presented here negotiate extremely confined spaces underneath obstacles. present results demonstrating these capabilities, as well hovering landing.