Klaus Zimmermann, Vera A. Naletova, Igor Zeidis, Vladimir A. Turkov, Emil Kolev, Mikhail V. Lukashevich, Gennadij V. Stepanov,
A deformable magnetizable worm in a magnetic field—A prototype of a mobile crawling robot Journal of Magnetism and Magnetic Materials. ,vol. 311, pp. 450- 453 ,(2007) ,
10.1016/J.JMMM.2006.11.153