@article{floyd2009two, title = {Two-dimensional contact and noncontact micromanipulation in liquid using an untethered mobile magnetic microrobot}, author = {Floyd, Steven and Pawashe, Chytra and Sitti, Metin}, journal = {IEEE Transactions on Robotics}, volume = {25}, number = {6}, pages = {1332--1342}, publisher = {IEEE}, year = {2009}, doi = {} }