This paper deals with the modelling and the realization of active and passive locomotion systems using the effects of the deformation of a magnetizable elastic material and the deformation of the surface of a membrane filled with a ferrofluid under the influence of a magnetic field. Prototypes implementing these principles have been constructed and proved positive. Theoretically (analytically and numerically) calculated results of the velocity of the mobile system are compared with the experimental data. Artificial worms based on these principles could be autonomous systems, and could be useful in medicine and in inspection technology.
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Zimmermann et al. (2006) studied this question.
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