Research over the past several decades has elucidated some of the mechanisms behind high speed, highly efficient, and robust locomotion in insects such as cockroaches. Roboticists have used this information to create biologically inspired machines capable of running, jumping, and climbing robustly over a variety of terrains. To date, little work has been done to develop an at-scale insect-inspired robot capable of similar feats due to challenges in fabrication, actuation, and electronics integration for a centimeter-scale device. This paper addresses these challenges through the design, fabrication, and control of a 1.27 g walking robot, the Harvard Ambulatory MicroRobot (HAMR). The current design is manufactured using a method inspired by pop-up books that enables fast and repeatable assembly of the miniature walking robot. Methods to drive HAMR at low and high speeds are presented, resulting in speeds up to 0.44 m/s (10.1 body lengths per second) and the ability to maneuver and control the robot along desired trajectories.

Assessing the efficiency of the next generation of protective marine coatings is highly relevant for their optimization. In this paper, a parallelized microfluidic testing device is presented to quantify the accumulation of a model organism (Navicula perminuta) under constant laminar flow. Using automated microscopy in conjunction with image analysis, the adhesion densities on the tested surfaces could be determined after exposure to a flow of suspended algae for 90 min. The optimized protocol for the assay is presented, and the reproducibility of the densities of attached diatoms was verified on four identical surfaces (self-assembled dodecanethiol monolayers). A set of well-characterized self-assembled monolayers with different chemical terminations was used to validate the performance of the assay and its capability to discriminate diatom accumulation on different surface chemistries under dynamic conditions. The observed trends are in good agreement with previously published results obtained in single channel accumulation and detachment assays. To demonstrate the practical relevance of the dynamic experiment, diatom attachment on four technically relevant silicone coatings with different fouling-release properties could clearly be distinguished.

Water strider insects have attracted the attention of many researchers due to their power-efficient and agile water surface locomotion. This study proposes a new water strider insect-inspired robot, called STRIDE II, which uses new circular footpads for high lift, stability and payload capability, and a new elliptical leg rotation mechanism for more efficient water surface propulsion. Using the advantage of scaling effects on surface tension versus buoyancy, similar to water strider insects, this robot uses the repulsive surface tension force on its footpads as the dominant lift principle instead of creating buoyancy by using very skinny (1 mm diameter) circular footpads coated with a superhydrophobic material. The robot and the insect propel quickly and power efficiently on the water surface by the sculling motion of their two side-legs, which never break the water surface completely. This paper proposes models for the lift, drag and propulsion forces and the energy efficiency of the proposed legged robot, and experiments are conducted to verify these models. After optimizing the robot design using the lift models, a maximum lift capacity of 55 grams is achieved using 12 footpads with a 4.2 cm outer diameter, while the robot itself weighs 21.75 grams. For this robot, a propulsion efficiency of 22.3% was measured. The maximum forward and turning speeds of the robot were measured as 71.5 mm/sec and 0.21 rad/sec, respectively. These water strider robots could be used in water surface monitoring, cleaning and analysis in lakes, dams, rivers and the sea.

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