@article{pawashe2009modeling, title = {Modeling and experimental characterization of an untethered magnetic micro-robot}, author = {Pawashe, Chytra and Floyd, Steven and Sitti, Metin}, journal = {The International Journal of Robotics Research}, volume = {28}, number = {8}, pages = {1077--1094}, publisher = {Sage Publications}, year = {2009}, doi = {} }