Fig. 4: Diverse morphologies and corresponding motion behaviors of mCEBOT.
From: Milli-scale cellular robots that can reconfigure morphologies and behaviors simultaneously
a Slipping of mCEBOT unit in the separated state under oscillating magnetic field. b Rolling of bastinade shaped mCEBOT as a whole unit under rotating magnetic field. c Walking of biped mCEBOT in the assembled state under the magnetic field with spatial variation of direction. d Climbing of hoe shaped mCEBOT by anchoring on pivot under the steering magnetic field. e Slipping motion trajectory and corresponding small space occupation. f Rolling motion trajectory and corresponding long step size. g Walking motion trajectory and corresponding biped locomotion characteristics. h Climbing motion trajectory and corresponding large height fluctuation. i mCEBOT unit in separated state slips across the narrow channel. j mCEBOT units assemble into bastinade shape to roll over the obstacle. k mCEBOT units assemble into biped structure to walk with two legs on wet surface like a human. l mCEBOT units assemble into hoe shape to climb by anchoring on the pivot.
