Traditional rigid underwater vehicles pose risks to delicate marine ecosystems due to high-speed propellers and rigid hulls. This paper presents BactoBot, a low-cost, soft underwater robot designed for safe and gentle marine exploration. Inspired by the efficient flagellar propulsion of bacteria, BactoBot features 12 flexible, silicone-based arms arranged on a dodecahedral frame. Unlike high-cost research platforms, this prototype was fabricated using accessible DIY methods, including food-grade silicone molding, FDM 3D printing, and off-the-shelf DC motors. A novel multi-stage waterproofing protocol was developed to seal rotating shafts using a grease-filled chamber system, ensuring reliability at low cost. The robot was successfully tested in a controlled aquatic environment, demonstrating stable forward propulsion and turning maneuvers. With a total fabrication cost of approximately $355 USD, this project validates the feasibility of democratizing soft robotics for marine science in resource-constrained settings.

The inherent challenges of robotic underwater exploration, such as hydrodynamic effects, the complexity of dynamic coupling, and the necessity for sensitive interaction with marine life, call for the adoption of soft robotic approaches in marine exploration. To address this, we present a novel prototype, ZodiAq, a soft underwater drone inspired by prokaryotic bacterial flagella. ZodiAq's unique dodecahedral structure, equipped with 12 flagella-like arms, ensures design redundancy and compliance, ideal for navigating complex underwater terrains. The prototype features a central unit based on a Raspberry Pi, connected to a sensory system for inertial, depth, and vision detection, and an acoustic modem for communication. Combined with the implemented control law, it renders ZodiAq an intelligent system. This paper details the design and fabrication process of ZodiAq, highlighting design choices and prototype capabilities. Based on the strain-based modeling of Cosserat rods, we have developed a digital twin of the prototype within a simulation toolbox to ease analysis and control. To optimize its operation in dynamic aquatic conditions, a simplified model-based controller has been developed and implemented, facilitating intelligent and adaptive movement in the hydrodynamic environment. Extensive experimental demonstrations highlight the drone's potential, showcasing its design redundancy, embodied intelligence, crawling gait, and practical applications in diverse underwater settings. This research contributes significantly to the field of underwater soft robotics, offering a promising new avenue for safe, efficient, and environmentally conscious underwater exploration.

Traditional locomotion strategies become ineffective at low Reynolds numbers, where viscous forces predominate over inertial forces. To adapt, microorganisms have evolved specialized structures like cilia and flagella for efficient maneuvering in viscous environments. Among these organisms, Phytophthora zoospores demonstrate unique locomotion mechanisms that allow them to rapidly spread and attack new hosts while expending minimal energy. In this study, we present the design, fabrication, and testing of a zoospore-inspired robot, which leverages dual flexible flagella and oscillatory propulsion mechanisms to emulate the natural swimming behavior of zoospores. Our experiments and theoretical model reveal that both flagellar length and oscillation frequency strongly influence the robot's propulsion speed, with longer flagella and higher frequencies yielding enhanced performance. Additionally, the anterior flagellum, which generates a pulling force on the body, plays a dominant role in enhancing propulsion efficiency compared to the posterior flagellum's pushing force. This is a significant experimental finding, as it would be challenging to observe directly in biological zoospores, which spontaneously release the posterior flagellum when the anterior flagellum detaches. This work contributes to the development of advanced microscale robotic systems with potential applications in medical, environmental, and industrial fields. It also provides a valuable platform for studying biological zoospores and their unique locomotion strategies.

We create a mechanism inspired by bacterial swimmers, featuring two flexible flagella with individual control over rotation speed and direction in viscous fluid environments. Using readily available materials, we design and fabricate silicone-based helical flagella. To simulate the robot's motion, we develop a physics-based computational tool, drawing inspiration from computer graphics. The framework incorporates the Discrete Elastic Rod method, modeling the flagella as Kirchhoff's elastic rods, and couples it with the Regularized Stokeslet Segments method for hydrodynamics, along with the Implicit Contact Model to handle contact. This approach effectively captures polymorphic phenomena like bundling and tumbling. Our study reveals how these emergent behaviors affect the robot's attitude angles, demonstrating its ability to self-reorient in both simulations and experiments. We anticipate that this framework will enhance our understanding of the directional change capabilities of flagellated robots, potentially stimulating further exploration on microscopic robot mobility.

Scientists have discovered that the way sperms swim defies Newton's law of motion, which states there is an equal and opposite reaction Researchers at Kyoto University found the sperms' flagella, or tail, propels the agents forward by changing their shape to interact with the fluid. Sperms do so in a non-reciprocal way, which violates Newton's third law because they do not elicit an equal and opposite reaction from their surroundings. The flagellum's elasticity also suggests that there should be no movement at all, but instead, sperms whip their tails without releasing much energy into their surroundings. Researchers at Kyoto University found the sperms' flagella, or tail, propels the agents forward by changing their shape to interact with the fluid The team used human sperm cells and algae for the research because both have flagella that help them propel through the liquid, New Scientist reports. Men's bulging waistlines are blamed for the worrying trend and'everywhere chemicals' in the environment.

The bundling of flagella is known to create a "run" phase, where the bacteria moves in a nearly straight line rather than making changes in direction. Historically, mechanical explanations for the bundling phenomenon intrigued many researchers, and significant advances were made in physical models and experimental methods. Contributing to the field of research, we present a bacteria-inspired centimeter-scale soft robotic hardware platform and a computational framework for a physically plausible simulation model of the multi-flagellated robot under low Reynolds number (~0.1). The fluid-structure interaction simulation couples the Discrete Elastic Rods algorithm with the method of Regularized Stokeslet Segments. Contact between two flagella is handled by a penalty-based method. We present a comparison between our experimental and simulation results and verify that the simulation tool can capture the essential physics of this problem. Preliminary findings on robustness to buckling provided by the bundling phenomenon and the efficiency of a multi-flagellated soft robot are compared with the single-flagellated counterparts. Observations were made on the coupling between geometry and elasticity, which manifests itself in the propulsion of the robot by nonlinear dependency on the rotational speed of the flagella.

Multi-flagellated bacteria utilize the hydrodynamic interaction between their filamentary tails, known as flagella, to swim and change their swimming direction in low Reynolds number flow. This interaction, referred to as bundling and tumbling, is often overlooked in simplified hydrodynamic models such as Resistive Force Theories (RFT). However, for the development of efficient and steerable robots inspired by bacteria, it becomes crucial to exploit this interaction. In this paper, we present the construction of a macroscopic bio-inspired robot featuring two rigid flagella arranged as right-handed helices, along with a cylindrical head. By rotating the flagella in opposite directions, the robot's body can reorient itself through repeatable and controllable tumbling. To accurately model this bi-flagellated mechanism in low Reynolds flow, we employ a coupling of rigid body dynamics and the method of Regularized Stokeslet Segments (RSS). Unlike RFT, RSS takes into account the hydrodynamic interaction between distant filamentary structures. Furthermore, we delve into the exploration of the parameter space to optimize the propulsion and torque of the system. To achieve the desired reorientation of the robot, we propose a tumble control scheme that involves modulating the rotation direction and speed of the two flagella. By implementing this scheme, the robot can effectively reorient itself to attain the desired attitude. Notably, the overall scheme boasts a simplified design and control as it only requires two control inputs. With our macroscopic framework serving as a foundation, we envision the eventual miniaturization of this technology to construct mobile and controllable micro-scale bacterial robots.

Microorganisms such as algae and bacteria move in a viscous environment with extremely low Reynolds ($Re$), where the viscous drag dominates the inertial forces. They have adapted to this environment by developing specialized features such as whole-body deformations and flexible structures such as flagella (with various shapes, sizes, and numbers) that break the symmetry during the motion. In this study, we hypothesize that the changes in the flexibility of the flagella during a cycle of movement impact locomotion dynamics of flagellated locomotion. To test our hypothesis, we developed an autonomous, self-propelled robot with four flexible, multi-segmented flagella actuated together by a single DC motor. The stiffness of the flagella during the locomotion is controlled via a cable-driven mechanism attached to the center of the robot. Experimental assessments of the robot's swimming demonstrate that increasing the flexibility of the flagella during recovery stroke and reducing the flexibility during power stroke improves the swimming performance of the robot. Our results give insight into how these microorganisms manipulate their biological features to propel themselves in low viscous media and are of great interest to biomedical and research applications.

What do we mean by life? The question has been asked a million times before, but with the development of artificial intelligence (AI) and potent computers, it is getting harder and harder to answer. Swedish-American physicist, cosmologist, and machine learning researcher Max Tegmark tackles this massive question in his book Life 3.0: Being Human in the Age of Artificial Intelligence. A professor at MIT and the president of the Future of Life Institute, Tegmark demonstrates that the question "How do we define life?" is actually wrong on its face since there is more than one type of life. He embarks on a journey to explain three stages of life that make up the universe: Life 1.0, Life 2.0, and Life 3.0.

Physiological functions of the microtubule cytoskeleton are expected to be regulated by a variety of posttranslational tubulin modifications. For instance, tubulin glycylation is almost exclusively found in cilia and flagella, but its role in the function of these organelles remains unclear. Gadadhar et al. now demonstrate in mice that glycylation, although nonessential for the formation of cilia and flagella, coordinates the beat waveform of sperm flagella. This activity is a prerequisite for progressive sperm swimming and thus for male fertility. At the ultrastructural level, lack of glycylation perturbed the distribution of axonemal dynein conformations, which may explain the observed defects in flagellar beat. Science , this issue p. [eabd4914][1] ### INTRODUCTION Microtubules are key components of the eukaryotic cytoskeleton. Although they are involved in a wide variety of functions, microtubules are structurally highly similar across most cell types and organisms. It was suggested that a “tubulin code,” formed by combinations of tubulin posttranslational modifications, adapts individual microtubules to specific functions within living cells. However, clear-cut functional and mechanistic data verifying this concept are still scarce. Glycylation is among the least explored posttranslational modifications of tubulin and has, so far, exclusively been found on microtubules of cilia and flagella from a variety of species. Previous work has suggested that glycylation might be essential for cilia and flagella, but mechanistic insight remains lacking. ### RATIONALE Two enzymes from the tubulin-tyrosine ligase-like (TTLL) family, TTLL3 and TTLL8, are essential to initiate glycylation of tubulin in mammals. To entirely abolish glycylation at the organism level and to determine its physiological function, we generated a double-knockout mouse lacking both glycylating enzymes ( Ttll3−/−Ttll8−/− ). Inactivation of these two enzymes led to a lack of glycylation in all analyzed cilia and flagella. This allowed us to investigate the role of glycylation in the function of these organelles. ### RESULTS Despite the absence of glycylation in Ttll3−/−Ttll8−/− mice, no gross defects were observed at the organism and tissue levels. Motile ependymal cilia in brain ventricles as well as motile cilia in the respiratory tract were present and appeared normal. Sperm flagella were also assembled normally, and sperm were able to swim. However, in vitro fertility assays showed that male Ttll3−/−Ttll8−/− mice were subfertile. Computer-assisted sperm analyses revealed motility defects of Ttll3−/−Ttll8−/− sperm. Further analyses showed that lack of glycylation leads to perturbed flagellar beat patterns, causing Ttll3−/−Ttll8−/− sperm to swim predominantly along circular paths. This is highly unusual for mammalian sperm and interferes with their ability to reach the oocyte for fertilization. To determine the molecular mechanisms underlying this aberrant flagellar beat, we used cryo–electron tomography. The three-dimensional structure of the 96-nm repeat of the Ttll3−/−Ttll8−/− sperm axoneme showed no aberrations in its overall assembly. By contrast, the structure of both outer and inner dynein arms (ODAs and IDAs) was perturbed in Ttll3−/−Ttll8−/− flagella. Classification analysis showed that the incidence and distribution of pre-powerstroke and post-powerstroke conformations of ODAs and IDAs were altered in Ttll3−/−Ttll8−/− sperm. These ultrastructural findings indicate that glycylation is required to efficiently control the dynein powerstroke cycle, which is essential for the generation of a physiological flagellar beat. ### CONCLUSION Our work shows that tubulin glycylation regulates the beat of mammalian flagella by modulating axonemal dynein motor activity. Lack of glycylation leads to perturbed sperm motility and male subfertility in mice. Considering that human sperm are more susceptible than mouse sperm to deficiencies in sperm motility, our findings imply that a perturbation of tubulin glycylation could underlie some forms of male infertility in humans. ![Figure][2] Tubulin glycylation controls sperm motility. ( A ) Microtubules in sperm flagella are rich in tubulin posttranslational modifications. Mice deficient for the glycylating enzymes TTLL3 and TTLL8 lack glycylation. ( B ) Mammalian sperm swim in linear paths. In the absence of glycylation, abnormal, mostly circular swimming patterns are observed, which impede progressive swimming. ( C ) Absence of glycylation leads to perturbed distribution of axonemal dynein conformations in Ttll3−/−Ttll8−/− flagella, which impedes normal flagellar beating. Posttranslational modifications of the microtubule cytoskeleton have emerged as key regulators of cellular functions, and their perturbations have been linked to a growing number of human pathologies. Tubulin glycylation modifies microtubules specifically in cilia and flagella, but its functional and mechanistic roles remain unclear. In this study, we generated a mouse model entirely lacking tubulin glycylation. Male mice were subfertile owing to aberrant beat patterns of their sperm flagella, which impeded the straight swimming of sperm cells. Using cryo–electron tomography, we showed that lack of glycylation caused abnormal conformations of the dynein arms within sperm axonemes, providing the structural basis for the observed dysfunction. Our findings reveal the importance of microtubule glycylation for controlled flagellar beating, directional sperm swimming, and male fertility. [1]: /lookup/doi/10.1126/science.abd4914 [2]: pending:yes