Science Robotics

Supplementary Materials

The PDF file includes:

  • Materials and Methods
  • Fig. S1. Experimental setup and the rolling of a μwheel under a 3D magnetic field.
  • Fig. S2. μWheels translating on flat surfaces.
  • Fig. S3. Schematics for modeling the rolling of a dimer on a textured surface and textured surface with trapezoidal bumps used in the simulations.
  • Fig. S4. Calculation of an ideal road for a square (4,4) μwheel translating without slip.
  • Legends for movies S1 to S9

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.avi format). Translation of a 7-mers and a 5-mers under a 3D magnetic field on a flat surface.
  • Movie S2 (.avi format). Translation of a dimer on a flat surface.
  • Movie S3 (.avi format). Translation of a dimer under a 3D magnetic field on a topographic surface along the blaze direction.
  • Movie S4 (.mov format). The simulated translation (slip and flip) of a dimer on a topographic surface with evenly spaced trapezoidal bumps.
  • Movie S5 (.mov format). The simulated translation (sequential flip of two lobes) of a dimer on a flat substrate.
  • Movie S6 (.mov format). The simulated translation (continuous flip) of dimer on a topographic surface with trapezoidal bumps spaced by d = 1.39a.
  • Movie S7 (.mp4 format). The rectifier effect for the translation of a dimer under a 3D magnetic field on a topographic surface.
  • Movie S8 (.avi format). Comparison of a diamond and square μwheel translation on the flat (top) versus topographic surface against the blaze direction (bottom).
  • Movie S9 (.avi format). Translation of a diamond and square against the blaze direction.

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