Curvature-driven bidirectional swimming of elastic flagella at low Reynolds numbers

Developing artificial swimmers with versatile maneuverability remains crucial for advancements in microfluidics and soft robotics. Inspired by biological flagella locomotion and recent theory on flagella with intrinsically curved profiles, we experimentally and numerically investigate the propulsion behavior of elastic artificial flagella with uniform intrinsic curvature. By actuating flagella through transverse oscillations at low-Re, we demonstrate that intrinsic curvature influences the direction and magnitude of propulsion. The numerical simulations reveal the relationship between flagella oscillation and propulsion force. Additionally, numerical simulations provide insights into the fluid-structure interactions and reveal how the presence of nearby structures impacts propulsion dynamics. Finally, we discuss how curvature modulation enhances locomotion versatility, offering promising pathways for soft robotic applications.