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Understand and predict the dynamics of dispersed micro-objects in microfluidics is crucial in numerous natural, industrial and technological situations. In this paper, we experimentally characterized the equilibrium velocity $V$ and lateral position $\varepsilon$ of various dispersed micro-objects such as beads, bubbles and drops, in a cylindrical microchannel over an unprecedent wide range of parameters. By systematically varying the dimensionless object size ($d \in [0.1; 1]$), the viscosity ratio ($λ\in [10^{-2}; \infty[$), the density ratio ($φ\in [10^{-3}; 2]$), the Reynolds number ($\Re \in [10^{-2}; 10^2]$), and the capillary number ($\text{Ca} \in [10^{-3}; 0.3]$), we offer a general study exploring various dynamics from the nonderformable viscous regime to the deformable visco-inertio-capillary regime, thus enabling to highlight the sole and combined roles of inertia and capillary effects on lateral migration. The experiments are compared and well-agree with a steady 3D Navier-Stokes model for incompressible two-phase fluids including both the effects of inertia and possible interfacial deformations. This model enables to rationalize the experiments and to provide an exhaustive parametric analysis on the influence of the main parameters of the problem, mainly on two aspects: the stability of the centered position and the velocity of the dispersed object. Interestingly, we propose a useful correlation for the object velocity $V$ as functions of the $d$, $\varepsilon$ and $λ$, obtained in the $\text{Re}=\text{Ca}=0$ limit, but actually valid for a larger range of values of $\text{Re}$ and $\text{Ca}$ in the linear regimes.