鞭毛和纤毛独特的运动模式（如鞭毛的平面/螺旋波形式推进和纤毛的二维/三维不对称搏动）在众多生物的生命活动中起到至关重要的作用，这也启发了诸多仿生设计，尤其对于微型机器人系统。然而，与自然界中微生物能够从统一化的9 + 2 轴丝生物结构中进化出多种运动模式不同的是，当前的仿生学仍然没有有效的工程策略去实现这样的智慧。在此，我们通过研究鞭毛和纤毛的内部结构及其内在驱动机制，推导出了一个统一的物理模型来描述微管弯曲及其所构建的宏观鞭毛/纤毛运动。基于该模型，我们进而提出了基于三通道的管状驱动概念，并相应地通过杆嵌入铸造工艺制造了一个三通道的管状驱动器。通过编程不同通道的驱动模式，这一管状驱动器不仅可以再现自然界中多样的二维及三维鞭毛/纤毛运动，还可以延展出更多的非对称纤毛搏动模式以实现低雷诺数下的有效推进。该研究加深了我们对微生物推进机制的理解，为仿生系统的设计提供了新灵感，并有望在广泛的工程领域中寻找到重要的应用场景。

The unique motion styles of flagella and cilia (i.e., planar/helical waveform propulsion of flagella and twodimensional (2D)/three-dimensional (3D) asymmetric ciliary beating), play a key role in many biological activities and inspire lots of bionic designs, especially miniature robotic systems. However, quite different to the fact in nature that microorganisms can evolve diverse motions from the homologous bio-structure (9 + 2 axoneme structure), current bionics can still not find an effective engineering solution to achieve such wisdom. Herein, by investigating the inner structure of flagella/cilia and their intrinsic driven mechanisms, we derive a unified physical model to describe the microtubules' bending and the constructed external motions. Then, we propose a three-channel based tubular actuation concept and correspondingly fabricate an actuator via a rod-embedded casting process. By sequencing the actuation of each channel, our design can not only reproduce the diverse 2D/3D flagellar/ciliary motility in nature, but also extrapolate a variety of symmetry-breaking ciliary beating modes for effective propulsion at low Reynolds number. This study deepens our understanding of the propulsion mechanism of microorganisms and provides new inspirations for the design of biomimetic systems, which may find significant applications in a wide spectrum of engineering fields.