Fig. S12. The undulating swimming, meniscus climbing and two-anchor crawling locomotion of the proposed MMR. (A) The MMR could execute its undulating swimming locomotion by continuously generating a traveling wave along its body. (ii)-(vi) The MMR produced a net displacement after generating one period of the traveling wave. (B) As the MMR swam via the undulating swimming locomotion, we could steer it to follow an ‘L’-shaped trajectory. (C) Meniscus-climbing could be executed by the MMR when (i)-(ii) a strong upward \(\vec{B}\) (\(\left|\vec{B}\right|\)=25 mT) was applied to deform the actuator and subsequently rotating \(\vec{B}\) from (iii) 30° to (iv) 60° (with respect to the vertical upright direction). (D) An illustration of the MMR’s two-anchor crawling locomotion. The dashed line represented the initial location of the MMR’s rear end, and the solid line represented the final location of the MMR’s rear end after it performed one cycle of two-anchor crawling. The distance between the dashed and solid lines represented the net displacement produced by the MMR in one cycle. Scale bars: 2 mm.