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Inspired by the movement of jellyfish in nature (Physophora hydrostatica), herein, a microscale aerial vehicle FlyJelly is introduced, powered by onboard energy to achieve untethered flight. FlyJelly uses a balloon filled with helium to overcome self\u2010gravity and an actuator powered by electrostatic power to generate thrust. The balloon, heat sealed with two gold\u2010covered Mylar films, weighs 95.56\u2009mg, provides 257.9\u2009mg of buoyancy when filled with helium, and stores 19.457\u2009\u00d7\u200910<jats:sup>\u22123<\/jats:sup>\u2009J of energy when powered by 2400\u2009V of direct current. The electrostatic actuator is composed of multiflapping units arranged radially and symmetrically, consuming only 0.3370\u2009mW of power but generating a thrust of 0.2271\u2009mN to drive the vehicle for flight. Benefiting from a design of distributed propulsion, FlyJelly is highly reliable and continues to work well even after the actuator is damaged. The milligram\u2010level weight, untethered flight with onboard energy, and high reliability make the prototype suitable for development as a long\u2010term remote exploration and search\u2010and\u2010rescue mission.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200393","type":"journal-article","created":{"date-parts":[[2023,1,20]],"date-time":"2023-01-20T22:45:48Z","timestamp":1674254748000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Untethered Flight of a 270\u2009mg Microrobot Powered by Onboard Energy"],"prefix":"10.1002","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7421-9599","authenticated-orcid":false,"given":"RuiDe","family":"Yun","sequence":"first","affiliation":[{"name":"School of Energy and Power Engineering Beihang University  Beijing 100191 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7853-8981","authenticated-orcid":false,"given":"LingYue","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Energy and Power Engineering Beihang University  Beijing 100191 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0231-7944","authenticated-orcid":false,"given":"YangSheng","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Energy and Power Engineering Beihang University  Beijing 100191 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5230-5234","authenticated-orcid":false,"given":"HengYu","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Energy and Power Engineering Beihang University  Beijing 100191 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"WenCheng","family":"Zhan","sequence":"additional","affiliation":[{"name":"School of Energy and Power Engineering Beihang University  Beijing 100191 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7287-7333","authenticated-orcid":false,"given":"ZhiWei","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Energy and Power Engineering Beihang University  Beijing 100191 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6151-7279","authenticated-orcid":false,"given":"XiaoJun","family":"Yan","sequence":"additional","affiliation":[{"name":"School of Energy and Power Engineering Beihang University  Beijing 100191 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1423-4663","authenticated-orcid":false,"given":"MingJing","family":"Qi","sequence":"additional","affiliation":[{"name":"School of Energy and Power Engineering Beihang University  Beijing 100191 China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2023,1,20]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.paerosci.2019.100573"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4038795"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/aa58d3"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1002\/zamm.201100100"},{"key":"e_1_2_8_6_1","unstructured":"M.Piccoli M.Yim Paper presented at2017 IEEE Int. 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