Design and Experiments of Spherical Magnetic Actuated Ｒobot Based on Magnetorheological Fluid 
HUA Dezheng, LIU Xinhua, ZHAO Xin, et al
Journal of South China University of Technology (Natural Science Edition) . 2021, (2): 151 -160 .  DOI: 10.12141/j.issn.1000-565X.200608