Fig. 2: Locomotion mechanism of MMMR.
From: Multimodal magnetic miniature robot for adaptive navigation in amphibious environments
A Helical swimming under a rotating magnetic field. φ is the angle by which the magnetization of the MMMR lags behind rotating magnetic field. B Static analysis in bipedal walking mode. Fv represents the volumetric forces acting on the MMMR like gravitational and buoyant forces, T is the magnetic torque. C Bipedal walking gait under an oscillating magnetic field.
