Table S1.
Showcase | Length, mm | Width, mm | Thickness, μm | m | n | Maximum strain energy, J | No. of design variables |
Cosine | 7 | 5 | 80 | — | 200 | 2.24e-8 | 401 |
Jellyfish-like robot | 7 | 3 | 80 | 10 | 10 | 3.3e-9 | 84 |
Undulatory swimming robot | 10 | 3 | 240 | 5 | 70 | 1.11e-10 | 304 |
Cilium | 10 | 3 | 80 | 10 | 20 | 1.54e-8 | 173 |