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