[1] Byungkyu K., Sunghak L., Jong H., “Design and Fabrication of a Locomotive Mechanism for Capsule-Type Endoscopes Using Shape Memory Alloys SMAs,” IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 10, NO. 1, FEBRUARY 2005.
[2] Dario P, Menciassi A, et al., “Modeling and Experiments on a Legged Microrobot Locomoting in a Tubular, Compliant and Slippery Environment”, The International Journal of Robotics Research, Vol. 25, No. 5–6, May–June 2006.
[3] Dario P, Menciassi A, et al. “Teleoperated endoscopic capsule equipped with active Locomotion system” Patent No. WO 2005082248.
[4] Zvi Fireman, D Paz, Y Kopelman, “Capsule endoscopy: Improving transit time and Image view,” World Journal of Gastroenterology, 2005;11(37):5863-5866.
[5] N.R. Tas, C. Gui, and M. Elwenspoek, “Static Friction in Elastic Adhesive MEMS Contacts, Models and Experiment,” IEEE, 2000.
[6] K. Fuller, D. Tabor, “The effect of surface roughness on the adhesion of elastic solids”, Proc. R. Soc. Lond. A., vol. 345, pp.327-342.1975.
[7] Y. Rollot, S. Regnier and J. Guinot, “Dynamical model for the micro-Manipulation by adhesion: experimental validations for determined conditions,” Journal of Micromechatronics, Vol. 1, No. 4, pp. 273–297, 2002.
[8] D. Sinan Haliyo, Yves Rollot and St´ephane R´egnier, “Manipulation of micro-objects using adhesion forces and dynamical effects,” IEEE, International Conference on Robotics and Automation, 2002.
[9] D. S. Haliyo, S. Regnier, J. Guinot, “[mü]MAD, the adhesion based dynamic micro-manipulator,” European Journal of Mechanics A/Solids, 2003.
[10] P. Rougeot, S Regnier, N Chaillet1, “Forces analysis for micro-Manipulation,” International Symposium on Computational Intelligence in Robotics and Automation, IEEE, 2005.
[11] N. Tayebi Æ A. A. Polycarpou, “Adhesion and contact modeling and experiments
in microelectromechanical systems including roughness effects,” Microsyst Technol, 2006.
[12] C. Canudas , H. Olsson, K. J. htrom, , and P. Lischinsky, “A New Model for Control of Micro-Systems with Friction,” IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 40, NO. 3, MARCH 1995.
[13] Y. Kanedal, N. Kamamichi, M. Yamakita1, K., “Control of Linear Artificial Muscle Actuator Using IPMC,” SICE Annual Conference in Fuhi, Fuhi tiniversiry, Japan, August 4-6.2003.
[14] K. Kim, J. Nam, Y. Tak, “An Equivalent Circuit Model for Ionic Polymer-Metal Composites and Their Performance Improvement by a Clay-Based Polymer Nano-Composite Technique,” J. Intelligent Material Systems and Structures, Vol.14, Octobr 2003.
)