Fig. 1: Design and multimodal locomotion schematic of the Multimodal Magnetic Miniature Robot (MMMR).
From: Multimodal magnetic miniature robot for adaptive navigation in amphibious environments
The magnetization direction is perpendicular to the biped feet. A Multimodal locomotion in the stomach and bladder. B Liquid-in helical swimming under a rotating magnetic field. C Liquid-in bipedal walking under a variable oscillating magnetic field. D Liquid-free bipedal walking under a fixed oscillating magnetic field.
