S-Shape Soft Robot Based on PVDF/Copper Bilayer Structure

At present, many soft robots suffer from poor motion performance and limited environmental adaptability. To address this challenge, innovative structural designs have been proposed. In this paper, we introduce a novel soft piezoelectric microrobot with a S-shape structure. Our work achieves two significant accomplishments: (1) With a weight of only 0.058g and a length of 1cm, the robot uses resonance to achieve motion and exhibits excellent motion performance, capable of reaching a speed of 41.2 BL/s. (2) The symmetrical body structure and vibration modes of the robot enable it to maintain high-speed motion (16 BL/s) even after flipping over, demonstrating its enhanced environmental adaptability. Overall, our new structural design opens up new opportunities for microrobots to improve their motion performance and environmental adaptability.