Combining chemical reactions and stimuli-responsive surfaces as clutch system, a functional cooperating minirobot with on-off locomotion that is responsive to pH changes is fabricated. Its locomotion can be switched on by changing pH value of the solution from 1 to 13, turned off by adjusting the pH back to acidic, and restarted by transforming the solution to basic.
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Meng et al. (2013) studied this question.
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