Planar Microassembly by Parallel Actuation of MEMS Microrobots

By Bruce Randall Donald, Christopher G. Levey, Igor Paprotny. Journal of microelectromechanical systems, 2008

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Modeling and Experimental Characterization of an Untethered Magnetic Micro-Robot (2009, methodology): “…fields required are much smaller than in purely electromagnetic gradient-based systems Mathieu et al. (2003) Yesin et al. (2006), and the stick–slip rocking motion allows movement over much larger surface obstacles than more planar locomotion strategies (Donald et al. 2006a Vollmers et al. 2008).”
Three-Dimensional Magnetic Manipulation of Micro- and Nanostructures for Applications in Life Sciences (2013, methodology): “Depending on the task-at-hand, researchers have proposed strategies such as using stick-slip methods based on thermal expansion [5] or electrostatic actuation [6], catalytic reactions [7], using biological organisms for propulsion [8], and electromagnetic actuation [9]–[12].”