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Existing magnetic\u2010controlled small\u2010scale robots have shown wide usage for their high mobility and higher degrees of freedom than their rigid counterparts. Herein, an octopus\u2010like soft robot is proposed for potential use in biomedical and engineering fields. First, a magnetic control system is established, which uses the minimum number of coils arranged by a regular tetrahedron structure. This system responds quickly and with high precision to propel a robot in 3D space utilizing the coupled field from multiple electromagnets in concert. An octopus\u2010like robot with three legs is designed, which moves freely in the workspace without constraints. A time\u2010asymmetric gradient magnetic field is applied, to ensure that the movement of the robot is more stable and controlled. At the same time, the movement of the tail improves the precision of the robot and makes control easier.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.201900148","type":"journal-article","created":{"date-parts":[[2020,3,11]],"date-time":"2020-03-11T05:54:03Z","timestamp":1583906043000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":31,"title":["Untethered Octopus\u2010Inspired Millirobot Actuated by Regular Tetrahedron Arranged Magnetic Field"],"prefix":"10.1002","volume":"2","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6866-7501","authenticated-orcid":false,"given":"Yuguo","family":"Dai","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering &amp; Automation Beihang University  Beijing 100191 China"}]},{"given":"Shuzhang","family":"Liang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering &amp; Automation Beihang University  Beijing 100191 China"}]},{"given":"Yuanyuan","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering &amp; 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