Fig. 4: Multimodal locomotion, deformation and scale-reconfiguration over the complex environment.
From: Exploiting ferrofluidic wetting for miniature soft machines
a Directional hurdling. The ferrofluid droplet jumps over successive obstacles under a 1D oscillating magnetic field (100 Hz, 9 mT). b Jumping up the stairs. c Jumping over designated holes in the wall. d The ferrofluid droplets adaptively deform and actively pass through a circularly curved channel, a sharp turn and a gap. e The ferrofluid droplet utilizes splitting behavior and passes through the comb-constrained channel in a stretching motion mode. f The ferrofluid droplet tumbles over the uneven bladder lining. g The demonstration of a ferrofluid droplet maneuvering on the folded stomach lining. h Ferrofluid droplet navigates within the unstructured narrow lumen. All the artificial structures are made of hydrogel. Scale bars, 2 mm.
