Design of an autonomous swimming miniature robot based on a novel concept of magnetic actuation. - Giuseppe Tortora; Sebastiano Caccavaro; Pietro Valdastri; Arianna Menciassi; Paolo Dario (ICRA, 2010)

A Novel Magnetic Actuation System for Miniature Swimming Robots. - Pietro Valdastri; Edoardo Sinibaldi; Sebastiano Caccavaro; Giuseppe Tortora; Arianna Menciassi; Paolo Dario (IEEE Trans. Robotics, 2011)