微米级机器人具备感知、思考和自主行动能力
Microscopic Robots That Sense, Think, Act, and Compute
- 用光刻工艺批量制造微型机器人，内置计算与传感系统
- 可执行数字算法并根据环境自主改变行为
- 成本低于1美分，适合在复杂环境中协作工作
尽管微型化在机器人领域已追求近40年，但由于微尺度下的独特物理特性，机器人学家始终难以在不牺牲片上信息处理能力的前提下实现亚毫米级尺寸。因此，微米机器人往往缺乏宏观机器人所具备的关键特征——即本地化的决策、感知、反馈和可编程计算系统。本文提出一种尺寸接近单细胞草履虫的微米级机器人，具备自主感知、思考与行动能力，集成有计算、传感、记忆、运动及通信等片上系统。通过全光刻工艺大规模并行制造，这些微米机器人可执行数字定义的算法，并能自主响应环境变化。综合成果为通用型微米机器人铺平了道路：可在简单设置下多次编程，每台成本低于0.01美元，且能在不确定环境中无需监督地协同完成任务。
原文摘要 · Abstract (English)
While miniaturization has been a goal in robotics for nearly 40 years, roboticists have struggled to access sub-millimeter dimensions without making sacrifices to on-board information processing due to the unique physics of the microscale. Consequently, microrobots often lack the key features that distinguish their macroscopic cousins from other machines, namely on-robot systems for decision making, sensing, feedback, and programmable computation. Here, we take up the challenge of building a microrobot comparable in size to a single-celled paramecium that can sense, think, and act using onboard systems for computation, sensing, memory, locomotion, and communication. Built massively in parallel with fully lithographic processing, these microrobots can execute digitally defined algorithms and autonomously change behavior in response to their surroundings. Combined, these results pave the way for general purpose microrobots that can be programmed many times in a simple setup, cost under $0.01 per machine, and work together to carry out tasks without supervision in uncertain environments.
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