Asymmetries-induced nonlinear dynamic behaviors enable a versatile modulation strategy for insect-scale robotics
Data files
Nov 18, 2025 version files 10.75 KB
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README.md
2.41 KB
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source_code.zip
8.34 KB
Abstract
Developing versatile insect-scale robots that can handle various unstructured scenarios with a simple design remains a critical challenge. Herein, we introduce a single electromagnetic actuator-driven insect-scale robot, developed by integrating geometric and mass asymmetries into a deformable hexagonal frame. This asymmetric configuration induces nonlinear dynamic behaviors in the robot, allowing it to perform a variety of complex actions (e.g., forward and backward locomotion, active flipping, and lateral movement) and respond to challenging scenarios (e.g., granular media and safe landing) through posture transitions. To facilitate the behavior modulation and design optimization of the proposed insect-scale robot, a nonlinear dynamic model is established to map the relationship between motion behaviors and input parameters. Finally, an untethered prototype that can work in outdoor environments is constructed to further demonstrate the practical applications.
Dataset DOI: 10.5061/dryad.bcc2fqzrf
Description of the data and file structure
The experimental efforts aim to analyze the dynamic behavior of a multi-mass mechanical system under periodic forcing and frictional interactions.
Investigating how applied force magnitude (F1_magnitude), friction coefficient (mu), and frequency (f) influence the system’s centroid displacement direction (positive proportion).
- Visualizing motion patterns through displacement time-series and phase space trajectories to understand coupling dynamics between masses (m1, m2, m3) connected by springs/dampers with friction at contact points.
- Validating theoretical models of nonlinear mechanical systems under excitation.
- Calculating forward and backward speed by constructing a specific dynamic model.
Files and variables
File: source_code.zip
Description:
The ZIP archive contains 4 Python files.
"forward_movement_ratio_calculation.py" computes the proportion of positive centroid displacements under different combinations of applied force (F1_magnitude), friction coefficient (mu), and frequency (f).
"displacement_simulation.py" simulates and visualizes the displacement of three masses over time.
"phase_map.py" generates a phase space plot (displacement vs. velocity) and visualizes the dynamic behavior of the system in the phase plane.
''Specific_dynamic_model_for_calculating_ speed.py'' introduces a specific dynamic model for calculating forward and backward speed.
Code/software
To run the provided Python scripts and view the generated data, you need the following free, open-source software and packages:
Required Software
- Python (version 3.7 or higher)
- Download from python.org.
- Recommended: Use Anaconda for simplified package management.
- Required Python Packages (with versions used in development):
numpy(numerical computing; tested with v1.21+)pandas(data manipulation; tested with v1.3+)scipy(scientific computing; tested with v1.7+)matplotlib(plotting; tested with v3.4+)openpyxl(Excel file support for pandas; tested with v3.0+)