Fig. 5: Helical swimming evaluation experiments of MMMR.
From: Multimodal magnetic miniature robot for adaptive navigation in amphibious environments
A Helical swimming velocity of MMMR under different magnetic field strengths. B Schematic of closed-loop automatic control during helical swimming. C Trajectory captured by the side camera and pitch adjustment to maintain the desired helical swimming height when liquid-in swimming. D Trajectory captured by the top camera and yaw adjustment to maintain the desired helical swimming direction (x-axis) when near-surface swimming.
