{"id":"https://openalex.org/W2140563272","doi":"https://doi.org/10.1017/s0263574704000268","title":"A peculiar flip-flop actuator for an in-pipe microrobot","display_name":"A peculiar flip-flop actuator for an in-pipe microrobot","publication_year":2004,"publication_date":"2004-08-19","ids":{"openalex":"https://openalex.org/W2140563272","doi":"https://doi.org/10.1017/s0263574704000268","mag":"2140563272"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574704000268","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574704000268","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089697945","display_name":"C. Libersa","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"C. Libersa","raw_affiliation_strings":["Laboratoire de M\u00e9canique des Solides, UMR CNRS 6610, Universit\u00e9 de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France","Laboratoire de M\u00e9canique des Solides, UMR CNRS 6610, Universit\u00e9 de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire de M\u00e9canique des Solides, UMR CNRS 6610, Universit\u00e9 de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France","institution_ids":["https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Laboratoire de M\u00e9canique des Solides, UMR CNRS 6610, Universit\u00e9 de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France)","institution_ids":["https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008542964","display_name":"Marc Arsicault","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Arsicault","raw_affiliation_strings":["Laboratoire de M\u00e9canique des Solides, UMR CNRS 6610, Universit\u00e9 de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France","Laboratoire de M\u00e9canique des Solides, UMR CNRS 6610, Universit\u00e9 de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire de M\u00e9canique des Solides, UMR CNRS 6610, Universit\u00e9 de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France","institution_ids":["https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Laboratoire de M\u00e9canique des Solides, UMR CNRS 6610, Universit\u00e9 de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France)","institution_ids":["https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068368596","display_name":"Jean-Pierre Gazeau","orcid":"https://orcid.org/0000-0003-3185-6058"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"J. P. Gazeau","raw_affiliation_strings":["Laboratoire de M\u00e9canique des Solides, UMR CNRS 6610, Universit\u00e9 de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France","Laboratoire de M\u00e9canique des Solides, UMR CNRS 6610, Universit\u00e9 de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire de M\u00e9canique des Solides, UMR CNRS 6610, Universit\u00e9 de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France","institution_ids":["https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Laboratoire de M\u00e9canique des Solides, UMR CNRS 6610, Universit\u00e9 de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France)","institution_ids":["https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072422361","display_name":"J.P. Lallemand","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802931824","display_name":"Institut Pprime","ror":"https://ror.org/05vjdsn22","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I171246369","https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I32881790","display_name":"Universit\u00e9 de Poitiers","ror":"https://ror.org/04xhy8q59","country_code":"FR","type":"education","lineage":["https://openalex.org/I32881790"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"J. P. Lallemand","raw_affiliation_strings":["Laboratoire de M\u00e9canique des Solides, UMR CNRS 6610, Universit\u00e9 de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France","Laboratoire de M\u00e9canique des Solides, UMR CNRS 6610, Universit\u00e9 de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire de M\u00e9canique des Solides, UMR CNRS 6610, Universit\u00e9 de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France","institution_ids":["https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Laboratoire de M\u00e9canique des Solides, UMR CNRS 6610, Universit\u00e9 de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France)","institution_ids":["https://openalex.org/I2802931824","https://openalex.org/I32881790","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.22181116,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":95},"biblio":{"volume":"22","issue":"5","first_page":"547","last_page":"561"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11608","display_name":"Dielectric materials and actuators","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/sma*","display_name":"SMA*","score":0.829704999923706},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.8206855058670044},{"id":"https://openalex.org/keywords/shape-memory-alloy","display_name":"Shape-memory alloy","score":0.5125372409820557},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4850403666496277},{"id":"https://openalex.org/keywords/buckling","display_name":"Buckling","score":0.46480312943458557},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.4354417324066162},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.41907763481140137},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40269213914871216},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4001506268978119},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1579568088054657},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09261167049407959}],"concepts":[{"id":"https://openalex.org/C161921814","wikidata":"https://www.wikidata.org/wiki/Q493743","display_name":"SMA*","level":2,"score":0.829704999923706},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8206855058670044},{"id":"https://openalex.org/C49097943","wikidata":"https://www.wikidata.org/wiki/Q898455","display_name":"Shape-memory alloy","level":2,"score":0.5125372409820557},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4850403666496277},{"id":"https://openalex.org/C85476182","wikidata":"https://www.wikidata.org/wiki/Q693104","display_name":"Buckling","level":2,"score":0.46480312943458557},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4354417324066162},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.41907763481140137},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40269213914871216},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4001506268978119},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1579568088054657},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09261167049407959},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574704000268","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574704000268","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W570268082","https://openalex.org/W1582054203","https://openalex.org/W1663094051","https://openalex.org/W1923002584","https://openalex.org/W1969381567","https://openalex.org/W1977623345","https://openalex.org/W2006322250","https://openalex.org/W2026213594","https://openalex.org/W2031009917","https://openalex.org/W2061560223","https://openalex.org/W2069050145","https://openalex.org/W2112677266","https://openalex.org/W2128219446","https://openalex.org/W2152687880","https://openalex.org/W2165889868","https://openalex.org/W2331464391","https://openalex.org/W2534161477","https://openalex.org/W2535998328","https://openalex.org/W2545248016","https://openalex.org/W2545565896"],"related_works":["https://openalex.org/W2240404672","https://openalex.org/W2744612160","https://openalex.org/W2089457653","https://openalex.org/W2368486505","https://openalex.org/W1986752515","https://openalex.org/W4252077727","https://openalex.org/W2626373589","https://openalex.org/W2909273876","https://openalex.org/W4390099502","https://openalex.org/W2040908729"],"abstract_inverted_index":{"The":[0,19],"work":[1],"presented":[2],"here":[3],"concerns":[4],"the":[5,23,61,73,77,81,84,89,94,98,108,118],"design":[6],"and":[7,75,97,117],"manufacturing":[8],"possibility":[9],"of":[10,22,25,83,101,113,120],"a":[11,26,40,50,58,114,125],"polymodular":[12],"autonomous":[13],"microrobot":[14,62,121],"moving":[15],"like":[16],"an":[17],"earthworm.":[18],"study":[20],"consists":[21],"development":[24],"new":[27],"locomotion":[28,95,122],"actuator":[29,36,96],"based":[30],"on":[31,49],"shape":[32],"memory":[33],"alloys.":[34],"This":[35,54],"is":[37],"formed":[38],"by":[39,46,110],"flexible":[41],"frame":[42],"forced":[43],"in":[44,60,124],"post-buckling":[45,67],"its":[47,65,102],"assembly":[48],"rigid":[51],"skeleton":[52],"cage.":[53],"mechanical":[55,99],"structure,":[56],"forming":[57],"knot":[59],"chain,":[63],"uses":[64],"two":[66],"equilibrium":[68],"positions":[69],"to":[70],"achieve":[71],"first":[72],"support":[74],"second":[76],"local":[78],"lengthening":[79],"enabling":[80],"movement":[82],"microrobot.":[85],"Initially,":[86],"we":[87,106],"present":[88,107],"technical":[90],"solution":[91],"designed":[92],"for":[93],"characterization":[100],"malleable":[103,115],"structure.":[104],"Then,":[105],"instrumentation":[109],"educated":[111],"SMA":[112],"structure":[116],"capability":[119],"task":[123],"vertical":[126],"tube.":[127]},"counts_by_year":[{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}