Design and Control of a Dual-Drug-Chamber Drug Delivery Capsule Robot for Multi-Target Drug Delivery. - Bo Ye; Zhi Shu; Shufang Wang; Bo Wang 090; Guangzheng Gao; Shoujun Dai; Sixian Liu; Yihan Xu; Princy Randhawa; Lalit Garg; Amit Krishna Dwivedi; Sheng Liu 016 (IEEE Trans Autom. Sci. Eng., 2025)