@article{erin2019elevation,
  title = {Elevation and azimuth rotational actuation of an untethered millirobot by MRI gradient coils},
  journal = {IEEE Transactions on Robotics},
  volume = {35},
  number = {6},
  pages = {1323-1337},
  publisher = {IEEE},
  year = {2019},
  author = {Erin, Onder and Gilbert, Hunter B and Tabak, Ahmet Fatih and Sitti, Metin}
}