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States and driving patterns of the robot segments.
| States | Driving patterns |
|---|---|
| Axially-contracted | Deflate the balloon |
| Axially-extended | Inflate the balloon |
| Upward-contracted | Heat the upper SMA spring + Inflate the balloon |
| Right-contracted | Heat the right SMA spring + Inflate the balloon |
| Downward-contracted | Heat the lower SMA spring + Inflate the balloon |
| Left-contracted | Heat the left SMA spring + Inflate the balloon |
| Anchored | Energize the electromagnet |
