{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,17]],"date-time":"2026-09-17T05:05:22Z","timestamp":1789621522162,"version":"build-2803163510"},"reference-count":50,"publisher":"Wiley","license":[{"start":{"date-parts":[[2026,9,16]],"date-time":"2026-09-16T00:00:00Z","timestamp":1789516800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2026,9,16]],"date-time":"2026-09-16T00:00:00Z","timestamp":1789516800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52225501"],"award-info":[{"award-number":["52225501"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52405012"],"award-info":[{"award-number":["52405012"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["524B2045"],"award-info":[{"award-number":["524B2045"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Science"],"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>Miniature vibration direct\u2010drive robots hold immense potential for missions in confined spaces, such as pipeline inspection and environmental detection. However, conventional fixed\u2010configuration designs are restricted to single functionality, failing to adapt to the multifaceted demands of diverse operational tasks. Here, we present an arthropod\u2010inspired untethered miniature modular vibration direct\u2010drive robot, which achieves on\u2010demand reconfiguration through standardized 19\u00a0mm \u00d7 32.5\u00a0mm \u00d7 18\u00a0mm driving units. Core innovations include tool\u2010less nested locking interfaces for rapid assembly; compliant silicone connectors designed to mitigate vibration\u2010induced wear and provide vibration isolation; chevron\u2010shaped feet optimizing vibration\u2010to\u2010locomotion conversion; and a highly integrated onboard control architecture enabling untethered operation. The robot reconfigures into quadruped, hexapod, octopod, and circular morphologies with stable performance. In the quadruped robot (58.4\u00a0g; 46\u00a0mm \u00d7 75\u00a0mm \u00d7 38.8\u00a0mm), it reaches a maximum linear speed of 580.74\u00a0mm\/s and rotational speed of 16.64\u00a0rad\/s. The octopod robot sustains 450\u00a0mm\/s under a 60\u00a0g payload while traversing 2.8\u00a0mm obstacles, 30\u00a0mm gullies, and confined pipelines. This work breaks fixed\u2010configuration limitations, providing a generalizable paradigm for synergizing modularity and vibration\u2010driven efficiency at the centimeter scale, offering new insights for miniature robots, and a versatile platform for confined\u2010space operations.<\/jats:p>","DOI":"10.1002\/advs.77834","type":"journal-article","created":{"date-parts":[[2026,9,17]],"date-time":"2026-09-17T04:57:31Z","timestamp":1789621051000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Arthropod\u2010Inspired Miniature Modular Vibration Direct\u2010Drive Robot With Untethered Locomotion"],"prefix":"10.1002","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5792-0524","authenticated-orcid":false,"given":"Shijing","family":"Zhang","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and Systems Harbin Institute of Technology  Harbin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ziteng","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems Harbin Institute of Technology  Harbin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-1544-0458","authenticated-orcid":false,"given":"Youwei","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems Harbin Institute of Technology  Harbin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dehong","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems Harbin Institute of Technology  Harbin China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5684-9159","authenticated-orcid":false,"given":"Yingxiang","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems Harbin Institute of Technology  Harbin China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,9,16]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3160753"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2022.3189218"},{"key":"e_1_2_10_4_1","doi-asserted-by":"crossref","DOI":"10.1002\/advs.202203054","article-title":"Miniature Amphibious Robot Actuated by Rigid\u2010Flexible Hybrid Vibration Modules","volume":"9","author":"Wang D.","year":"2022","journal-title":"Advanced Science"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2018.2872005"},{"key":"e_1_2_10_6_1","doi-asserted-by":"crossref","first-page":"524","DOI":"10.1109\/TMECH.2018.2792618","article-title":"Monolithic Piezoelectric Insect with Resonance Walking","volume":"23","author":"Shannon A. 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B.","year":"2014","journal-title":"The International Journal of Robotics Research"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202422499"},{"key":"e_1_2_10_10_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.device.2024.100620"},{"key":"e_1_2_10_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2024.3366210"},{"key":"e_1_2_10_12_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijmecsci.2023.108276"},{"key":"e_1_2_10_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3018031"},{"key":"e_1_2_10_14_1","doi-asserted-by":"publisher","DOI":"10.1002\/advs.202403426"},{"key":"e_1_2_10_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2022.3148086"},{"key":"e_1_2_10_16_1","doi-asserted-by":"crossref","first-page":"987","DOI":"10.1109\/LRA.2018.2793355","article-title":"Power and Control Autonomy for High\u2010Speed Locomotion With an Insect\u2010Scale Legged Robot","volume":"3","author":"Benjamin G.","year":"2018","journal-title":"IEEE Robot Autom Lett"},{"key":"e_1_2_10_17_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2022.108862"},{"key":"e_1_2_10_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2022.3222655"},{"key":"e_1_2_10_19_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2021.107839"},{"key":"e_1_2_10_20_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361\u2010665X\/ad2f0c"},{"key":"e_1_2_10_21_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aat1893"},{"key":"e_1_2_10_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2945518"},{"key":"e_1_2_10_23_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467\u2010024\u201048243\u2010y"},{"key":"e_1_2_10_24_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361\u2010665X\/ad3ecd"},{"key":"e_1_2_10_25_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202213589"},{"key":"e_1_2_10_26_1","article-title":"Terradynamics of Monolithic Soft Robot Driven by Vibration Mechanism","volume":"41","author":"Linh V. 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E.Vogtmann andS.Bergbreiter \u201cEfficiency and Effectiveness Analysis of a New Direct Drive Miniature Quadruped Robot \u201d inProceedings of the 1995 IEEE International Conference on Robotics and Automation(IEEE 2013) 5623\u20135629.","DOI":"10.1109\/ICRA.2013.6631386"},{"key":"e_1_2_10_34_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adi5155"},{"key":"e_1_2_10_35_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467\u2010024\u201054327\u20106"},{"key":"e_1_2_10_36_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aan6357"},{"key":"e_1_2_10_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2025.3593118"},{"key":"e_1_2_10_38_1","doi-asserted-by":"crossref","first-page":"640","DOI":"10.1089\/soro.2024.0009","article-title":"An Interconnected Soft Modular Robot with Locomotive Modules and Flexible Structures Actuated Through a Single Method","volume":"12","author":"Tanaka K.","year":"2025","journal-title":"Soft Robotics"},{"key":"e_1_2_10_39_1","doi-asserted-by":"crossref","DOI":"10.1126\/sciadv.adu6897","article-title":"Robot Metabolism: Toward Machines That Can Grow by Consuming Other Machines","volume":"11","author":"Wyder P. 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