#$%^&*AU2006203208B220120308.pdf#####ABSTRACT OF THE DISCLOSURE Methods and devices are provided for traversing a lumen of a tubular body part, such as the large or small intestine, the colon, the bladder, the stomach, etc. In an exemplary embodiment, the methods and devices utilize electroactive polymers that are selectively actuated to move a device through a lumen.316 FIG. 3 306 300 302 g302b 304 d2 318 308 302a d FIG. 4 400 408 406 402 410