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. 2023 Mar 22;9(12):eadf8014. doi: 10.1126/sciadv.adf8014

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Fig. 4. — (A) Comparison between the images and simulation results (color bar representing the normalized out-of-plane deformation) of the robot in forward mode. (B) Comparison between the images and simulation results of the robot in reverse mode. (C and D) Friction force on two ends of the crawling robot in forward mode and reverse mode normalized by the self-weight of the robot.