Fig. 6: Phase modulation of pneumatic hybrid oscillator (PHO) enables a multi-directional untethered swimming robot. | Nature Communications

Fig. 6: Phase modulation of pneumatic hybrid oscillator (PHO) enables a multi-directional untethered swimming robot.

From: A non-electrical pneumatic hybrid oscillator for high-frequency multimodal robotic locomotion

Fig. 6

a i: the modulation principle of PHO. ii: the effect of tuning the fixed angle of the auxiliary elastic beam. b Design of the multi-directional swimming robot. A CO2 gas cylinder is integrated to make it untethered. c Direction changing of the swimming robot. d Various motion trajectories under different phase settings.

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