Please visit Bruce Donald's personal web page for up-to-date information, research, teaching, and publications. That website is hosted by the Departments of Computer Science, Chemistry, and Biochemistry at Duke University.
Donald, B. R., et al. “Assembly of planar structures by parallel actuation of Mems microrobots.” Technical Digest Solid State Sensors, Actuators, and Microsystems Workshop, 2008, pp. 202–07.