Abstract: To overcome the disadvantages of poor kinematic dexterity in current micro-robots,a bionic micro-robot under joint control of internal and external signals is proposed with the motion of magnetotactic bacterium for reference.The microrobot is propelled by its screw propeller which imitates the flagellum of magnetotactic bacterium,and its moving direction is adjusted by interaction between the external guiding magnetic field and the internal permanent magnet block which imitates the chains of tiny magnetosomes.The influence of remote control signal on the velocity of the micro-robot and the capability of attitude adjustment under the guiding magnetic field are tested experimentally.The results show that both the velocity and attitude of the micro-robot can be controlled flexibly,and the micro-robot may play an important role in the detection of small nonmagnetic pipes.