This paper presents a magnetic multi-layer soft robot designed for on-demand targeted adhesion. The robot, composed of three layers (one center and two side layers), each with a soft magnetic substrate and adhesive film, leverages tailored magnetic interactions between layers to enable agile motions (translation and tumbling) and on-demand separation. The adhesive film's properties are systematically characterized, and the robot's locomotion and adhesion are validated through simulations and ex-vivo/in-vivo experiments in a porcine stomach, demonstrating its potential for multi-target adhesion in the gastrointestinal tract.
