@article{6dof-2,
  title = {Simultaneous six-degree-of-freedom control of a single-body magnetic microrobot},
  journal = {IEEE Robotics and Automation Letters},
  volume = {4},
  number = {2},
  pages = {508-514},
  year = {2019},
  author = {Giltinan, Joshua and Sitti, Metin}
}