Fig. 2: Motion control of the Ebot.
a–c Three different motion modes of (a) helical swimming under low intensity light, (b) polygonal swimming under medium intensity light, and (c) spinning swimming under high intensity light. Panels I: schematic illustration of these three motion modes, blue curves show the motion strategy. Panels II: microscopic images showing the flagellum beating patterns for each motion mode, red curve indicates the flagellum. Panels III-V: microscopic images showing the movement of the Ebot. Red dot indicates the eyespot position. Panels IV: microscopic images showing final swimming trajectories with several images superimposed (blue curves indicated). d Different polygonal trajectories of Ebot at medium light intensity. e Microscopic images showing different directions of polygonal trajectories. f Microscopic images showing the effect of illumination duration on the turning angle of the Ebot under high intensity light. g Probability of different motion modes as a function of light intensity. h Measured turning angle under different illumination duration. i Microscopic image showing Ebot passing through a microfluidic maze, dashed curve indicates the Ebot trajectory. Scale bars: 50 μm. Data for (g) and (h) are presented as mean values ± s.d. (n = 20)
