@article{yim2012design,
  title = {Design and rolling locomotion of a magnetically actuated soft capsule endoscope},
  journal = {IEEE Transactions on Robotics},
  volume = {28},
  number = {1},
  pages = {183--194},
  publisher = {IEEE},
  year = {2012},
  author = {Yim, Sehyuk and Sitti, Metin}
}