Fig. 2: Locomotion principles and geometric parameter optimization. | Nature Communications

Fig. 2: Locomotion principles and geometric parameter optimization.

From: AI-embodied multi-modal flexible electronic robots with programmable sensing, actuating and self-learning

Fig. 2

a Key geometric parameters of the seta and locomotion analysis of a single FEbot unit during one driving cycle. b Trajectory of the mass center (derived from high-speed imaging, Supplementary Movie 1) compared to simulation results. c, d Sequential optical images capturing motion profiles in the X- and Y-directions during one operational cycle, respectively. e Forward speed as a function of driving frequency for a unit with L = 5 mm, d = 0.1 mm, and θ = 45°. f Forward speed versus seta length for units with d = 0.07, 0.1, 0.2, 0.3 mm and θ = 60°. g Forward speed as a function of seta angle (θ) for units with L = 7 mm and d = 0.1 mm.

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