Table 1. Strengths and weaknesses of the soft robot performance and maneuverability improvement strategies.

Locomotion mode	Performance enhancement strategy	Strength	Weakness
Body undulation	Tuning δ	Higher crawling and swimming performance	Require prior knowledge about the size of the working environment
	Integrating spinules to both ends	Higher undulatory crawling performance	Not functioning on hard smooth surfaces
	Creating multiwavelength sinusoidal magnetization profile	Higher swimming performance	Larger robot size
	Shortening wavelength	Higher maneuverability	Too small deformation with too short wavelength
Helical surface crawling	Tuning γ	Increasing crawling speed; withstanding higher flow rate	Requiring prior knowledge about the size of the working environment
	Creating grooves	Increasing crawling speed; withstanding higher flow rates	Requiring larger magnetic torque
	Creating multiwavelength sinusoidal magnetization profile	Withstanding higher flow rates	Larger robot size; harder to twist into the helical shape