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. 2022 Aug 9;13:4456. doi: 10.1038/s41467-022-32123-4

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© The Author(s) 2022

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. 4 — a Robustness test showing the resilience of SEMR TL upon external loading (Supplementary Movie 5). The robot resumes walking after being pressed and fully flattened twice (driving current, 0.3 A, 1 Hz). b The SEMR jumps across (top one) and onto (bottom one) a 2.5-mm-high object (Supplementary Movie 6). c SEMR TST floating on the surface of the water. Inset, top view of the robot. d Path of the swimming SEMR TST (Supplementary Movie 7). e Maximum swimming speed versus frequency for a driving current of 0.5 A. Error bars represent the standard deviation of four measurements. f Two-module steerable SEMR TSTS. Frames 1 to 7 show straight walking, anticlockwise, and clockwise turns using controlled currents through the modules (Supplementary Movie 8). The tick interval along the straight line is 1 cm. g Side view of the transport SEMR TRC, carrying cargo. It consists of a body and a release actuator for automated cargo handling (Supplementary Movie 9). h Photos of untethered SEMRs UL, UR1 and UR2, from left to right. i A sequence of snapshots of the running untethered SEMR UL (Supplementary Movie 10) with a time interval of 0.6 s. j A sequence of snapshots of the running untethered SEMR UR1 (Supplementary Movie 10) with a time interval of 0.27 s. k Snapshots of the swimming SEMR UR2 (Supplementary Movie 10) in states of contraction and expansion, left and right subpanel, respectively.