1. Robot design, component fabrication, and assembly.
Robot design, component fabrication, and assembly. (A) An existing 85-mg robot was used to investigate underwater stability. (B) The improved 175-mg robot consisted of two symmetric halves, a central gas collection chamber with a sparker plate, four balance beams, and buoyant outriggers. (C) Exploded view of robot assembly. Scale bar, 1 cm (B and C). (D) Mating feature of the titanium balance T-beam. Scale bar, 500 μm. (E) Exploded view of gas collection chamber assembly. Scale bar, 5 mm. (F) Microscopic image illustrating an array of porous openings on the chamber’s titanium top plate. Scale bar, 500 μm. (G) The sparking plate consists of a pair of stainless steel plates and a copper sparker. Scale bar, 4 mm. (H) Microscopic image of the sparker electrodes. Scale bar, 100 μm.
Yufeng Chen et al. Sci. Robotics 2017;2:eaao5619
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