Fig. 5.

Formation of the modular units. (Top): Schematic of the experiments (Bottom): Microscope images of the 80 $\mu$m microrobots taken at 10$\times$ and 5$\times$ magnification - a) Initial state of microrobots after placing on a glass slide. b) Microrobots under the magnetic field. c,d,e,) Various shapes were programmed during the experiments