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Related Experiment Video

Updated: May 17, 2026

Bioinspired Soft Robot with Incorporated Microelectrodes
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Fish-diversity-inspired multiple soft millirobot system with morphology-encoded selective control.

Zhengyuan Xin1, Zhiqiang Zheng2,3, Yaozhen Hou4

  • 1Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing Institute of Technology, Beijing 100081, China.

Science Advances
|May 15, 2026
PubMed
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This summary is machine-generated.

Inspired by fish, scientists created magnetic millirobots with varied shapes. Different morphologies enable unique swimming patterns and precise control for targeted delivery, advancing flexible robot design.

Area of Science:

  • Biomimetics and Robotics
  • Fluid Dynamics
  • Marine Biology

Background:

  • Fish morphology influences locomotion and hydrodynamic efficiency in marine ecosystems.
  • Evolutionary adaptations in fish provide biomechanical principles for robotic design.

Purpose of the Study:

  • To develop morphology-encoded patterned magnetic millirobots (MPMRs) mimicking fish locomotion.
  • To investigate how MPMR morphology affects hydrodynamic response and propulsion efficiency.
  • To demonstrate selective control and multitarget delivery of MPMRs using morphology-encoded variations.

Main Methods:

  • Fabricated MPMRs with predefined anterior-to-posterior length ratios and body contours.
  • Actuated MPMRs using uniform magnetic fields to emulate undulatory swimming patterns.

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  • Analyzed frequency-dependent responses and velocity profiles of MPMRs with different morphologies.
  • Validated selective control and multitarget delivery in vitro and ex vivo.

    • Main Results:

    • MPMRs successfully emulated fish swimming patterns, with morphology directly impacting motion performance.
    • An optimal AP ratio (approx. 1:1) and streamlined contour maximized propulsion.
    • Distinct morphologies exhibited unique frequency-dependent responses and velocity profiles.
    • Effective selective control and multitarget delivery of multiple MPMRs were achieved.

    Conclusions:

    • Morphological differentiation is key for controlling millirobot locomotion and performance.
    • MPMRs offer a platform for advanced flexible robotic systems inspired by nature.
    • This study provides a foundation for selective control strategies in uniform magnetic fields.