@inproceedings{yim2011design,
  title = {Design and analysis of a magnetically actuated and compliant capsule endoscopic robot},
  booktitle = {Robotics and Automation (ICRA), 2011 IEEE International Conference on},
  pages = {4810--4815},
  organization = {IEEE},
  year = {2011},
  author = {Yim, Sehyuk and Sitti, Metin}
}