Small-scale robots can locomote in a restricted workspace and complete micro-operations, which are of great significance in the fields of biomedical engineering (such as targeted drug delivery, minimally invasive surgery), environmental protection, and rescue. Starting from the biomimetic engineering, the interfacial behaviors of insects and other small-scale animals locomoting at the liquid-vapor, solid-liquid was summarized, and solid-vapor interfaces, analyzed the mechanism of these behaviors, and it was found that wetting, dynamic adhesion, adjustable anisotropic friction and other properties related to interfaces play a key role in the locomotion characteristics of small animals. The potential value of these interface behaviors of small animals in the process of miniaturization of robots is summarized. Moreover, focusing on small-scale magnetic robots, their locomotion mechanism, micro/nano-manufacturing technology and control methods was highlighted. The locomotion mechanisms of magnetic robots mainly include magnetic gradient propulsion, spiral propulsion, swing propulsion and etc. Micro/nano-manufacturing technology such as photolithography, 3D printing, and molding methods are extensively studied, among which 3D printing technology is becoming more and more important in the preparation of small-scale magnetic robots. The control methods of robots can be divided into modeled and model-free control methods according to whether they are modeled or not. Finally, combined with the biological inspirations, the robot‘s potential innovation points from the perspective of surface optimization, shape design, manufacturing are discussed, and the vision of improving the locomotion performance of future magnetic robots through interface engineering is prospected.