Fig. 4: Millirobot locomotion and sensing capacities in motion.
From: Magnetic soft millirobot with simultaneous locomotion and sensing capability
a Comparison of the wavelike paths showing the movements of the center point of an inchworm and a prototype millirobot. b Lateral displacement (Blue lines) and vertical displacement (Red lines) for center point of a prototype millirobot. c Corresponding output voltage during the robot locomotion, with the actuation frequency of 1 Hz. d Corresponding output voltage during the robot locomotion in confined space. A robot (0.31 g) carries two 3D printed objects, (e) 0.41 g and (f) 1.55 g, respectively.
