CLARI (Compliant Legged Articulated Robotic Insect)

CLARI (Compliant Legged Articulated Robotic Insect) is an insect-scale quadrupedal robot designed for navigating cluttered and confined environments through passive shape-morphing enabled by origami-inspired compliant exoskeleton. It deforms its body width from 34mm to 21mm to squeeze through narrow gaps, supports multiple gaits (trot, walk) at 1-10 Hz stride frequencies, and demonstrates locomotion in open terrain and laterally constrained spaces. Key features include modular leg design for potential expansion to eight legs, robust mobility over uneven surfaces, and future plans for sensor integration and untethered operation. Use cases encompass search-and-rescue in disaster areas, high-value asset inspection (e.g., engine interiors), environmental monitoring, and exploration of natural terrains mimicking insect adaptability