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MilliMobile: An Autonomous Battery-free Wireless Microrobot

Authors:

Zachary Englhardt,

Vicente Arroyos,

Vikram IyerAuthors Info & Claims

ACM MobiCom '23: Proceedings of the 29th Annual International Conference on Mobile Computing and Networking

Article No.: 90, Pages 1 - 16

https://doi.org/10.1145/3570361.3613304

Published: 02 October 2023 Publication History

Abstract

We present MilliMobile: a first of its kind battery-free autonomous robot capable of operating on harvested solar and RF power. We challenge the conventional assumption that motion and actuation are beyond the capabilities of battery-free devices and demonstrate completely untethered autonomous operation in realistic indoor and outdoor lighting as well as RF power delivery scenarios. We show first that through miniaturizing a robot to gram scale, we can significantly reduce the energy required to move it. Second, we develop methods to produce intermittent motion by discharging a small capacitor (47--150 μF) to move a motor in discrete steps, enabling motion from as little as 50 μW of power or less. We further develop software defined techniques for maximizing power harvesting. MilliMobile operates in the optimal part of the charging curve by varying the charging time to achieve maximum speeds of up to 5.5 mm/s.

The MilliMobile prototype has a 10x10 mm chassis and weighs less than 1.1 g. Our robot can carry payloads 3 times its own weight, and only experiences a 25% reduction in speed when carrying a 1 g payload. We demonstrate operation on 10 different surfaces ranging from wood and concrete to compact soil. We further show the ability to cold-start and move in light conditions as low as 20 W/m² and -10 dBm of RF power. In addition to operating on harvested power, our robot demonstrates sensor and control autonomy by seeking light using onboard photodiodes, and can transmit sensor data wirelessly to a base station over 200 m away.

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Cited By

Custode LFarina PYildiz EKilic RYildirim KIacca GShu YLiu JTan RHe YChen J(2024)Fast-Inf: Ultra-Fast Embedded Intelligence on the Batteryless EdgeProceedings of the 22nd ACM Conference on Embedded Networked Sensor Systems10.1145/3666025.3699335(239-252)Online publication date: 4-Nov-2024
https://dl.acm.org/doi/10.1145/3666025.3699335
Carver CItagaki TLiu KManik MEnglhardt ZIyer VZhou X(2024)Demonstration of Laser Power Delivery for Mobile MicrorobotsProceedings of the 10th Workshop on Micro Aerial Vehicle Networks, Systems, and Applications10.1145/3661810.3663466(19-24)Online publication date: 3-Jun-2024
https://dl.acm.org/doi/10.1145/3661810.3663466
Hou XXu TLi CXu CLiu JHu YZhao JLeng JCheng KGuo M(2024)A Tale of Two Domains: Exploring Efficient Architecture Design for Truly Autonomous Things2024 ACM/IEEE 51st Annual International Symposium on Computer Architecture (ISCA)10.1109/ISCA59077.2024.00022(167-181)Online publication date: 29-Jun-2024
https://doi.org/10.1109/ISCA59077.2024.00022
Show More Cited By

Index Terms

MilliMobile: An Autonomous Battery-free Wireless Microrobot
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Embedded systems
      1. Embedded hardware
    2. Robotics
      1. Robotic autonomy
2. Hardware
  1. Communication hardware, interfaces and storage
    1. Sensor devices and platforms
    2. Wireless devices

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cover image ACM Conferences

ACM MobiCom '23: Proceedings of the 29th Annual International Conference on Mobile Computing and Networking

October 2023

1605 pages

ISBN:9781450399906

DOI:10.1145/3570361

Chairs:
Xavier Costa,
Joerg Widmer,
Co-chairs:
Diego Perino,
Domenico Giustiniano,
Program Chair:
Haitham Al Hassanieh,
Program Co-chairs:
Arash Asadi,
Landon Cox

Copyright © 2023 Owner/Author(s).

This work is licensed under a Creative Commons Attribution International 4.0 License.

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Published: 02 October 2023

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ACM MobiCom '23: 29th Annual International Conference on Mobile Computing and Networking

October 2 - 6, 2023

Madrid, Spain

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Cited By

Custode LFarina PYildiz EKilic RYildirim KIacca GShu YLiu JTan RHe YChen J(2024)Fast-Inf: Ultra-Fast Embedded Intelligence on the Batteryless EdgeProceedings of the 22nd ACM Conference on Embedded Networked Sensor Systems10.1145/3666025.3699335(239-252)Online publication date: 4-Nov-2024
https://dl.acm.org/doi/10.1145/3666025.3699335
Carver CItagaki TLiu KManik MEnglhardt ZIyer VZhou X(2024)Demonstration of Laser Power Delivery for Mobile MicrorobotsProceedings of the 10th Workshop on Micro Aerial Vehicle Networks, Systems, and Applications10.1145/3661810.3663466(19-24)Online publication date: 3-Jun-2024
https://dl.acm.org/doi/10.1145/3661810.3663466
Hou XXu TLi CXu CLiu JHu YZhao JLeng JCheng KGuo M(2024)A Tale of Two Domains: Exploring Efficient Architecture Design for Truly Autonomous Things2024 ACM/IEEE 51st Annual International Symposium on Computer Architecture (ISCA)10.1109/ISCA59077.2024.00022(167-181)Online publication date: 29-Jun-2024
https://doi.org/10.1109/ISCA59077.2024.00022
Trygstad CBlankenship EPérez-Arancibia N(2024)A New 10-mg SMA-Based Fast Bimorph Actuator for Microrobotics2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS58592.2024.10802033(1349-1356)Online publication date: 14-Oct-2024
https://doi.org/10.1109/IROS58592.2024.10802033

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