Movie S2.

Two programmable beams were used as the tentacles of a jellyfish-like robot. The robot was able to swim on an oil–water interface. A net propulsion could be generated by making the speed of the power stroke faster than the recovery stroke.

Shape-programmable magnetic soft matter

Guo Zhan Lum, Zhou Ye, Xiaoguang Dong, Hamid Marvi, Onder Erin, Wenqi Hu, and Metin Sitti

PNAS. 2016. 113:E6007-E6015 DOI: 10.1073/pnas.1608193113