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. 2020 Oct 14;11:5166. doi: 10.1038/s41467-020-18801-1

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© The Author(s) 2020

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 5 — a, b Snapshots to show the walking gait of the stripe-patterned anisotropic hydrogel under the scanning of a light beam from left to right (a) and from right to left (b). Green and blue arrows indicate the light scanning direction and motion direction, respectively. c Displacements of the two ends (heat and tail) of the gel under cyclic scanning of light. d Simulation results showing the kinematics of the retrograde walking of the hydrogel based on photo-directed buckling and dynamic adhesion. e–g Snapshots to show the turning motion in one cycle of light scanning (e), and the sequential turning motions (f) and accumulated rotated angle (g) of the pattern hydrogel under cyclic scanning of a light beam along the diagonal direction of the gel. Green arrows indicate the light scanning directions. h Simulation results showing the kinematics of the turning motion of the hydrogel under the scanning of light. The red and blue arrows indicate the anchoring spot and motion direction of the gel. Color scale in the simulated results indicates the normalized temperature. Gel dimensions, 15 mm × 5 mm × 1 mm; power intensity, 3.5 W cm⁻²; scanning speed, 1.7 mm s⁻¹.