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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This paper describes a new concept for locomotion of mobile robots based on single actuated tensegrity structures. To discuss the working principle, two vibrationdriven locomotion systems are considered. Due to the complex dynamics of the applied tensegrity structures with pronounced mechanical compliance, the movement performance of both systems is highly dependent on the driving frequency. By using single-actuation, the system design and also their control can be kept simple. The movement of the robots is depending on their configuration uniaxial bidirectional or planar. The working principle of both systems is discussed with the help of transient dynamic analyses and verified with experimental tests for a selected prototype.