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Locomotion principles for piezoelectric miniature robots

Piezoelectric miniature robots are mobiles robots with a size of a few cm actuated by piezoelectric materials. In this paper, we will study the locomotion principles for piezoelectric miniature robots. They are mostly inspired from the animal locomotion and are classified by their displacement through a fluid medium or on a solid substrate. We will discuss wheeled locomotion, walking locomotion, inchworm locomotion, inertial drive, resonant drive, and Friction drive as locomotion’s on a solid substrate. In liquid, locomotion for mobile miniature robots is totally inspired from animal locomotion and is divided into locomotion inside liquid and locomotion at the liquid surface. A brief description of animal locomotion in liquid is given. In air, locomotion for mobile miniature robots is divided into flapping wings, rotary wings, fixed wings and gliding wings. Flapping wings is the only method described in this paper. After definition of each locomotion principle, some piezoelectric miniature robots are taken as examples and an important review is given.