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Here, we propose a wireless millimeter-scale wheeled robot capable of using environmental flows to power and actuate its long-distance locomotion through complex pipelines. The flow-powering module can convert flow energy into mechanical energy, achieving an impeller speed of up to 9595 revolutions per minute, accompanied by an output power density of 11.7 watts per cubic meter and an efficiency of 33.7%. A miniature gearbox module can further transmit the converted mechanical energy into the robot\u2019s locomotion system, allowing the robot to move against water flow at an average rate of up to 1.05 meters per second. The robot\u2019s motion status (moving against\/with flow or pausing) can be switched using an external magnetic field or an onboard mechanical regulator, contingent on different proposed control designs. In addition, we designed kirigami-based soft wheels for adaptive locomotion. The robot can move against flows of various substances within pipes featuring complex geometries and diverse materials. Solely powered by flow, the robot can transport cylindrical payloads with a diameter of up to 55% of the pipe\u2019s diameter and carry devices such as an endoscopic camera for pipeline inspection, a wireless temperature sensor for environmental temperature monitoring, and a leak-stopper shell for infrastructure maintenance.<\/jats:p>","DOI":"10.1126\/scirobotics.adi5155","type":"journal-article","created":{"date-parts":[[2024,3,13]],"date-time":"2024-03-13T17:58:57Z","timestamp":1710352737000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":28,"title":["Wireless flow-powered miniature robot capable of traversing tubular structures"],"prefix":"10.1126","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0739-7552","authenticated-orcid":true,"given":"Chong","family":"Hong","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China."},{"name":"Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4263-2888","authenticated-orcid":true,"given":"Yingdan","family":"Wu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China."},{"name":"Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5382-7106","authenticated-orcid":true,"given":"Che","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0824-1805","authenticated-orcid":true,"given":"Ziyu","family":"Ren","sequence":"additional","affiliation":[{"name":"Physical Intelligence Department, Max Planck Institute for Intelligent 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