@inproceedings{7989387, title = {Design and actuation of a magnetic millirobot under a constant unidirectional magnetic field}, author = {Erin, O. and Giltinan, J. and Tsai, L. and Sitti, M.}, journal = {2017 IEEE International Conference on Robotics and Automation (ICRA)}, booktitle = {2017 IEEE International Conference on Robotics and Automation (ICRA)}, pages = {3404-3410}, publisher = {IEEE}, address = {Piscataway, NJ, USA}, month = may, year = {2017}, doi = {10.1109/ICRA.2017.7989387}, month_numeric = {5} }