The G1 milli-robot has 10 times larger area than the planned final G2 milli-robot. Today, it will use more than 10 times the power than what we expect to harvest in the miniaturized robot. Although a smaller robot will draw less power, we cannot expect it to be linearly dependent to size. Novel solutions for further reduced locomotion power will be important. A possible discrepancy will be met by a decreased duty cycle.
A major issue has been the lack of semiconductor components for the robot. Especially, we are lacking small and low-power non-volatile FRAM microcontrollers and small high-voltage switches, with a larger footprint as consequence. This is not problematic for G1 but may be limiting the miniaturization of G2. In addition, the high power requirements in G1 cannot be met by thin film multilayer capacitors but we will need to use bulky battery technology. The goal is to remove the battery in the final, miniaturized, milli-robot.