@article{ren2024design,
  title = {Design and build of small-scale magnetic soft-bodied robots with multimodal locomotion},
  journal = {Nature Protocols},
  volume = {19},
  number = {2},
  pages = {441--486},
  year = {2023},
  author = {Ren, Ziyu and Sitti, Metin},
  doi = {https://doi.org/10.1038/s41596-023-00916-6}
}