Liftoff of a soft-actuated micro-aerial-robot powered by triboelectric nanogenerators

Aerial insects can nimbly navigate in cluttered natural environments while they interact with delicate objects such as flowers and leaves. To achieve insect-like agility and robustness, power dense dielectric elastomer actuators (DEAs) have been developed for driving sub-gram micro-aerial-vehicles (MAVs). However, despite exhibiting muscle-like bandwidth and resilience, DEAs require a high driving voltage in the range of 1 - 2 kilovolts. This requirement poses substantial challenges for developing compact boost electronics and energy sources, which prohibit power autonomous operations of soft-actuated sub-gram MAVs. Here, we develop a compact and high power triboelectric nanogenerator (TENG) that can effectively charge a high-voltage DEA and enable the liftoff of a soft-actuated MAV. We propose an In -plane Charge Pump (ICP) design that can deliver over 1500 V and 110 mW without requiring a secondary charge pump or magnetic circuit components such as inductors or transformers. Compared to conventional free-standing mode TENGs, our ICP design shows a 280 % and 920 % increase in voltage and energy generation, respectively. When this TENG powers a DEA-driven MAV, the 160 mg robot achieves liftoff with a lift-to-weight ratio of 1.75. This result highlights the potential of powering high-voltage microrobots with energy-harvesting devices.