I. Introduction
Flying microrobots involve small-scale aerial vehicles designed to operate in confined spaces, perform complex tasks, and navigate challenging environments with high maneuverability [1] – [3]. With advances in precision manufacturing and intelligent control [4], flying microrobots are receiving substantial attention and development across fields like disaster rescue, surveillance, infrastructure monitoring and planetary exploration [5]. Compared to large and medium-sized aircraft, flying microrobots [6] – [9] enable unique application scenarios, but present challenges including miniaturizing propulsion systems, insufficient onboard power, manufacturing and assembly complexity, and complex control needs. Currently, there are mainly three types of flying microrobots that can be categorized based on different principles: micro-rotorcrafts [10] – [12], flapping wings robots [13] – [15], and ion-propelled flying robots [16] – [18]. Micro-rotorcrafts rely on electromagnetic motors, which have substantial weight for their sizes; moreover, enough space must be allocated to accommodate these components, posing a potential obstacle to miniaturization. Flapping-wings microrobots require the installation of bionic flapping-wings as the micro-actuators, as well as embedded precise sensors and control system to enable insect-like flight [3], [13] - [15]. The wings must frequently flap at high speeds to generate lift, imposing cyclic stress on components that may accumulate damage over time.