以下为句子列表：
英文: A non-contact drive and control method on capsule type micro robot was proposed, in which exterior permanent magnet driver was composed of multiple tegular magnetic poles magnetized in radial direction, while interior permanent magnet driver built in robo
中文: 摘要提出一种以径向磁化的瓦状多磁极组成的圆筒式永磁体为外驱动器，以嵌入机器人本体内与外驱动器同磁极结构的永磁体为内驱动器的非接触式驱动控制方案。
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