  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.
