Extended Data Fig. 3: Microrobot Active and passive Shape-shifting, Demonstrated in Various Configurations.
From: Model-based reinforcement learning for ultrasound-driven autonomous microrobots
a. Schematic of the experimental setup, showing a straight microchannel equipped with four piezoelectric transducers (PZTs) positioned around an obstacle to manipulate the microrobot. b. Sequence of images illustrating passive microrobot deformation as it navigates through an obstacle using a single PZT activated along the X-axis at 20 volts, demonstrating the robot's ability to passively overcome the barrier. c. Series of images showing active manipulation where two PZTs on the Y-axis are activated, detailing the microrobot's dynamic shape deformation to navigate around the obstacle. d. Image sequence in a bifurcation channel setup where the microrobot encounters an obstacle on one side and actively shape-shifts to maneuver towards the downward path, showcasing advanced control and navigational capabilities. Scale bar: 100 µm.
