Fig. 1.
Design and swimming behavior of the jellyfish-inspired swimming soft millirobot. a Comparison in morphology. The newly budded scyphomedusae ephyra (Aurelia aurita) possesses deep clefts between two adjacent lappets. The design of the jellyfish-inspired soft millirobot captures such feature. The photo of the real animal is taken in a pet store and the animal’s care is in accordance with the institutional guidelines. b Kinematics and flow structures achieved by Mode A. The motion sequence, the velocity and vorticity fields, and the wake structures visualized by the fluorescein dye are all in one cycle. The three experiments are from three different trials using robots with the same design and kinematics. c Comparison of the robot and animal in two kinematic metrics: bell fineness and lappet velocity. The biological data is reproduced with permission from Feitl et al.28; permission is conveyed through Copyright Clearance Center, Inc. d Video snapshots of capturing a neutrally buoyant bead using the fluid flow around the robot’s lappets