@article{floyd2009two,
  title = {Two-dimensional contact and noncontact micromanipulation in liquid using an untethered mobile magnetic microrobot},
  journal = {IEEE Transactions on Robotics},
  volume = {25},
  number = {6},
  pages = {1332--1342},
  publisher = {IEEE},
  year = {2009},
  slug = {floyd2009two},
  author = {Floyd, Steven and Pawashe, Chytra and Sitti, Metin}
}