"Digital Logic for Soft Devices", Preston, D. J., Rothemund, P., Jiang, H. J., Nemitz, M. P., Rawson, J., Suo, Z. and Whitesides, G. M. PNAS Plus, 2019.
doi.org/10.1073/pnas.1820672116

This submersible soft robot autonomously and repeatedly dives and surfaces, enabling applications where...