1. Robot surface tension experiments.
Robot surface tension experiments. (A) Illustration of the experimental setup. The robot is mounted on a capacitive force sensor and is slowly lowered into water or pulled out of water. (B) Force trace when the robot is lowered into soapy water. (C) Force trace as the robot is lowered into tap water. (D) Picture of the robot and force trace immediately before one of its balance beams (red circle) pops out of the water surface. (E) Picture of the robot and force trace immediately after one of its balance beams (red circle) pops out of the water surface. (D) and (E) are taken 0.33 s apart. (F) Force trace as the robot is pulled out of soapy water. (G) Force trace as the robot is pulled out of tap water. Scale bars, 1 cm (A, D, and E).
Yufeng Chen et al. Sci. Robotics 2017;2:eaao5619
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