Microrobot collectives with reconfigurable morphologies, behaviors, and functions

Abstract

Mobile microrobots, which can navigate, sense, and interact with their environment, could potentially revolutionize biomedicine and environmental remediation. Many self-organizing microrobotic collectives have been developed to overcome inherent limits in actuation, sensing, and manipulation of individual microrobots; however, reconfigurable collectives with robust transitions between behaviors are rare. Such systems that perform multiple functions are advantageous to operate in complex environments. Here, we present a versatile microrobotic collective system capable of on-demand reconfiguration to adapt to and utilize their environments to perform various functions at the air-water interface. Our system exhibits diverse modes ranging from isotropic to anisotrpic behaviors and transitions between a globally driven and a novel self-propelling behavior. We show the transition between different modes in experiments and simulations, and demonstrate various functions, using the reconfigurability of our system to navigate, explore, and interact with the environment. Such versatile microrobot collectives with globally driven and self-propelled behaviors have great potential in future medical and environmental applications.