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We demonstrate this approach through articulated prototypes capable of executing diverse locomotion strategies, including crawling and rolling, while leveraging on-demand mode switching to perform functional tasks such as cargo transportation, stirring and release. A critical advantage is that all locomotion and mode transitions are driven by a single, uniform magnetic field, thereby decoupling control from function and simplifying the system architecture. The robustness of the mechanism is confirmed through mathematical simulations and a dimensionless analysis that validates its feasibility across scales. The platform\u2019s versatility is ultimately demonstrated by its high-dexterity navigation through a tortuous vascular phantom and its successful execution of targeted cargo delivery within an ex\u00a0vivo porcine stomach model. This work establishes a readily controllable and scalable framework for designing multifunctional magnetic robots, paving the way for high-precision operations within complex biological environments.<\/jats:p>","DOI":"10.34133\/cbsystems.0560","type":"journal-article","created":{"date-parts":[[2026,3,16]],"date-time":"2026-03-16T15:41:44Z","timestamp":1773675704000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark_01","source":"Crossref","is-referenced-by-count":0,"title":["Articulated Untethered Magnetic Actuators for Multimodal and Cross-Scale Operations"],"prefix":"10.34133","volume":"7","author":[{"given":"Zhixian","family":"Chen","sequence":"first","affiliation":[{"name":"Bio-manufacturing Engineering Laboratory, Institute of Data and Information, Tsinghua Shenzhen International Graduate School, \rTsinghua University, Shenzhen 518000, China."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaoyu","family":"Zhao","sequence":"additional","affiliation":[{"name":"Bio-manufacturing Engineering Laboratory, Institute of Data and Information, Tsinghua Shenzhen International Graduate School, \rTsinghua University, Shenzhen 518000, China."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ying","family":"Liu","sequence":"additional","affiliation":[{"name":"Bio-manufacturing Engineering Laboratory, Institute of Data and Information, Tsinghua Shenzhen International Graduate School, \rTsinghua University, Shenzhen 518000, China."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shengli","family":"Mi","sequence":"additional","affiliation":[{"name":"Bio-manufacturing Engineering Laboratory, Institute of Data and Information, Tsinghua Shenzhen International Graduate School, \rTsinghua University, Shenzhen 518000, China."},{"name":"Center of Double Helix, Tsinghua Shenzhen International Graduate School, \rTsinghua University, Shenzhen 518000, China."}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"221","published-online":{"date-parts":[[2026,5,19]]},"reference":[{"issue":"10","key":"e_1_3_4_2_2","doi-asserted-by":"crossref","first-page":"2105352","DOI":"10.1002\/advs.202105352","article-title":"Heat-mitigated design and Lorentz force-based steering of an MRI-driven microcatheter toward minimally invasive surgery","volume":"9","author":"Phelan MI","year":"2022","unstructured":"Phelan MI III, Tiryaki ME, Lazovic J, Gilbert H, Sitti M. 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