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. 2018 Dec 4;9(12):641. doi: 10.3390/mi9120641

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© 2018 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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(a) Magnetically actuated capsule microrobot with leg close, (b) Magnetically actuated capsule microrobot with leg open, (c) Stop motion by the open leg in pipe.

(a) Magnetically actuated capsule microrobot with leg close, (b) Magnetically actuated capsule microrobot with leg open, (c) Stop motion by the open leg in pipe.