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