Deliverable D5.5 – “Morphing Robot Final Report” illustrates the progress made up to M48 of the project in developing worm-inspired morphing robotsbased on magnetic actuation, with a specific focus on bioinspired functional strategies. In particular, the work reported here emphasizes solutions that closely replicate key mechanisms of the selected worms, such as peristalsis in non-segmented structures and eversion through hydrostatic fluidic transmissions.