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1、ARTICLEDOI:10.1038/s41467-018-04855-9OPENControllablewatersurfacetounderwatertransitionthroughelectrowettinginahybridterrestrial-aquaticmicrorobotYufengChen1,2,NeelDoshi1,2,BenjaminGoldberg1,2,HongqiangWang1,2&RobertJ.Wood1,2Severalanimalspeciesdemonstrat
2、eremarkablelocomotivecapabilitiesonland,onwater,andunderwater.Ahybridterrestrial-aquaticrobotwithsimilarcapabilitiesrequiresmulti-1234567890():,;modallocomotivestrategiesthatreconciletheconstraintsimposedbythedifferentenvir-onments.Herewereportthedevelopm
3、entofa1.6gquadrupedalmicrorobotthatcanwalkonland,swimonwater,andtransitionbetweenthetwo.Thisrobotutilizesacombinationofsurfacetensionandbuoyancytosupportitsweightandgeneratesdifferentialdragusingpassive?apstoswimforwardandturn.Electrowettingisusedtobreakt
4、hewatersurfaceandtransitionintowaterbyreducingthecontactangle,andsubsequentlyinducingspontaneouswetting.Finally,severaldesignmodi?cationshelptherobotovercomesurfacetensionandclimbamodestinclinetotransitionbackontoland.Ourresultsshowthatmicrorobotscandemon
5、strateuniquelocomotivecapabilitiesbyleveragingtheirsmallsize,mesoscalefabricationmethods,andsurfaceeffects.1JohnA.PaulsonSchoolofEngineeringandAppliedSciences,HarvardUniversity,Cambridge,MA02138,USA.2WyssInstituteforBiologicallyInspiredEngineering,Harvard
6、University,Cambridge,MA02138,USA.CorrespondenceandrequestsformaterialsshouldbeaddressedtoY.C.(email:yufengchen@seas.harvard.edu)ortoR.J.W.(email:rjwood@seas.harvard.edu)NATURECOMMUNICATIONS
7、(2018)9:2495
8、DOI:10.1038/s41467-018-04855-9
9、www.nature.com/nature
10、communications1ARTICLENATURECOMMUNICATIONS
11、DOI:10.1038/s41467-018-04855-9anyanimalspecies1–5exhibitmultimodallocomotivetransmission(comparedtoapreviousversion28)allowittocapabilitiesinterrestrialandaquaticenvironmentstoovercomeaforcethatistwiceitsbodyweig
12、htandbreakthewaterMevadepredatorsorsearchforprey.Afewarachnids3surfacetotransitionbackontoland.andinsects4canmoveonthesurfaceofwaterbyexploitingstaticInsummary,thisworkdevelopsmultimodalstrategiesforsurfacetension.T
