This locomotion mechanism can be used to navigate the structure over complex and uneven routes. For instance, Figure 5d and Video S4 rocks show the overlap of a pill's trajectory moving in an uneven terrain composed of randomly dispersed small rocks. If the robotic pill was dragged by a magnetic attraction, it would get stuck in the uneven surface of the terrain; thus, the walking propulsion mode enables it to avoid lodging in between the rocks, roughly imitating the crevices found within the GI tract.