Fig. 2: Steering mechanism of the robot.
From: Untethered soft microrobot driven by a single actuator for agile navigations
a The relationships between phase shifts and the driving frequency for the four individual legs. Even at the same frequency, the difference in each leg’s phase shift results in the strokes of the four legs exhibiting different shapes, orientations, and inclinations, collectively contributing to various gaits of the robot. b The experimental linear velocity (mm/s) and angular velocity (rad/s) of the robot with respect to the driving frequency. Trajectories of legs across multiple driving cycles in the locomotion of (c) forward (95 Hz), (d) backward (61 Hz), (e) CW (102 Hz) and (f) CCW (68 Hz) steering, respectively. Time begins at the blue end and flows to the red end. The friction forces from the ground are indicated by red arrows.
