Fig. 3

(a) PDMS experimental chamber used for surface motion experiments. (b) Visualization of the microswimmer’s surface motion, where the color gradient represents the progression of time, from the initial time \(t_i\) to the final time \(t_f\). The positions of the microswimmers at different points in time are shown in corresponding colors, with \(p_i\) indicating the initial position and \(p_f\) the final position. (c) Dynamics of surface rolling motion as the X-axis is the direction of motion where C shows the center of mass and P shows the point of contact. (d) Illustration of swimming motion. Reproduced with permission from IEEE¹⁸.