{"id":"https://openalex.org/W2104145099","doi":"https://doi.org/10.1109/icra.2011.5979748","title":"Digital microrobotics based on bistable modules: Design of a non-redundant digital micropositioning robot","display_name":"Digital microrobotics based on bistable modules: Design of a non-redundant digital micropositioning robot","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2104145099","doi":"https://doi.org/10.1109/icra.2011.5979748","mag":"2104145099"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979748","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979748","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"preprint","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/A5032619926","display_name":"Vincent Chalvet","orcid":"https://orcid.org/0000-0003-3800-8502"},"institutions":[{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4407990293","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I53262699","display_name":"\u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et des Microtechniques","ror":"https://ror.org/05813w841","country_code":"FR","type":"education","lineage":["https://openalex.org/I53262699"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Vincent Chalvet","raw_affiliation_strings":["UMR CNRS 6174-UFC/ENSMM/UTBM, Automatic and MicroMechatronic Systems Department, FEMTO-ST Institute, Besancon, France","FEMTO-ST Institute, UMR CNRS 6174 - UFC / ENSMM / UTBM, Automatic and MicroMechatronic Systems Department, 14, rue Alain Savary, 25000 BESAN\u00c7ON, France"],"affiliations":[{"raw_affiliation_string":"UMR CNRS 6174-UFC/ENSMM/UTBM, Automatic and MicroMechatronic Systems Department, FEMTO-ST Institute, Besancon, France","institution_ids":["https://openalex.org/I2802759292","https://openalex.org/I53262699","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"FEMTO-ST Institute, UMR CNRS 6174 - UFC / ENSMM / UTBM, Automatic and MicroMechatronic Systems Department, 14, rue Alain Savary, 25000 BESAN\u00c7ON, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045823510","display_name":"Artur Zarzycki","orcid":null},"institutions":[{"id":"https://openalex.org/I53262699","display_name":"\u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et des Microtechniques","ror":"https://ror.org/05813w841","country_code":"FR","type":"education","lineage":["https://openalex.org/I53262699"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4407990293","https://openalex.org/I53262699"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Artur Zarzycki","raw_affiliation_strings":["UMR CNRS 6174-UFC/ENSMM/UTBM, Automatic and MicroMechatronic Systems Department, FEMTO-ST Institute, Besancon, France","FEMTO-ST Institute, UMR CNRS 6174 - UFC / ENSMM / UTBM, Automatic and MicroMechatronic Systems Department, 14, rue Alain Savary, 25000 BESAN\u00c7ON, France"],"affiliations":[{"raw_affiliation_string":"UMR CNRS 6174-UFC/ENSMM/UTBM, Automatic and MicroMechatronic Systems Department, FEMTO-ST Institute, Besancon, France","institution_ids":["https://openalex.org/I2802759292","https://openalex.org/I53262699","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"FEMTO-ST Institute, UMR CNRS 6174 - UFC / ENSMM / UTBM, Automatic and MicroMechatronic Systems Department, 14, rue Alain Savary, 25000 BESAN\u00c7ON, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018599664","display_name":"Yassine Haddab","orcid":"https://orcid.org/0000-0001-7931-2645"},"institutions":[{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4407990293","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I53262699","display_name":"\u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et des Microtechniques","ror":"https://ror.org/05813w841","country_code":"FR","type":"education","lineage":["https://openalex.org/I53262699"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Yassine Haddab","raw_affiliation_strings":["UMR CNRS 6174-UFC/ENSMM/UTBM, Automatic and MicroMechatronic Systems Department, FEMTO-ST Institute, Besancon, France","FEMTO-ST Institute, UMR CNRS 6174 - UFC / ENSMM / UTBM, Automatic and MicroMechatronic Systems Department, 14, rue Alain Savary, 25000 BESAN\u00c7ON, France"],"affiliations":[{"raw_affiliation_string":"UMR CNRS 6174-UFC/ENSMM/UTBM, Automatic and MicroMechatronic Systems Department, FEMTO-ST Institute, Besancon, France","institution_ids":["https://openalex.org/I2802759292","https://openalex.org/I53262699","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"FEMTO-ST Institute, UMR CNRS 6174 - UFC / ENSMM / UTBM, Automatic and MicroMechatronic Systems Department, 14, rue Alain Savary, 25000 BESAN\u00c7ON, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074838137","display_name":"Philippe Lutz","orcid":"https://orcid.org/0000-0002-8918-8155"},"institutions":[{"id":"https://openalex.org/I53262699","display_name":"\u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et des Microtechniques","ror":"https://ror.org/05813w841","country_code":"FR","type":"education","lineage":["https://openalex.org/I53262699"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4407990293","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Lutz","raw_affiliation_strings":["UMR CNRS 6174-UFC/ENSMM/UTBM, Automatic and MicroMechatronic Systems Department, FEMTO-ST Institute, Besancon, France","FEMTO-ST Institute, UMR CNRS 6174 - UFC / ENSMM / UTBM, Automatic and MicroMechatronic Systems Department, 14, rue Alain Savary, 25000 BESAN\u00c7ON, France"],"affiliations":[{"raw_affiliation_string":"UMR CNRS 6174-UFC/ENSMM/UTBM, Automatic and MicroMechatronic Systems Department, FEMTO-ST Institute, Besancon, France","institution_ids":["https://openalex.org/I2802759292","https://openalex.org/I53262699","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"FEMTO-ST Institute, UMR CNRS 6174 - UFC / ENSMM / UTBM, Automatic and MicroMechatronic Systems Department, 14, rue Alain Savary, 25000 BESAN\u00c7ON, France","institution_ids":["https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032619926"],"corresponding_institution_ids":["https://openalex.org/I2802759292","https://openalex.org/I53262699","https://openalex.org/I1294671590"],"apc_list":null,"apc_paid":null,"fwci":0.4419901,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.6865039,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2","issue":null,"first_page":"3628","last_page":"3633"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9997000098228455,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"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/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/workspace","display_name":"Workspace","score":0.7398653626441956},{"id":"https://openalex.org/keywords/bistability","display_name":"Bistability","score":0.7057533264160156},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5629082322120667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5572413802146912},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5118283629417419},{"id":"https://openalex.org/keywords/linearity","display_name":"Linearity","score":0.45331454277038574},{"id":"https://openalex.org/keywords/digital-microscope","display_name":"Digital microscope","score":0.4121393859386444},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3603929877281189},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32488352060317993},{"id":"https://openalex.org/keywords/microscope","display_name":"Microscope","score":0.27721819281578064},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2543913722038269},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.24184295535087585},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.08006903529167175},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07570949196815491}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7398653626441956},{"id":"https://openalex.org/C97292510","wikidata":"https://www.wikidata.org/wiki/Q2304620","display_name":"Bistability","level":2,"score":0.7057533264160156},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5629082322120667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5572413802146912},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5118283629417419},{"id":"https://openalex.org/C77170095","wikidata":"https://www.wikidata.org/wiki/Q1753188","display_name":"Linearity","level":2,"score":0.45331454277038574},{"id":"https://openalex.org/C34862184","wikidata":"https://www.wikidata.org/wiki/Q5276114","display_name":"Digital microscope","level":3,"score":0.4121393859386444},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3603929877281189},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32488352060317993},{"id":"https://openalex.org/C67649825","wikidata":"https://www.wikidata.org/wiki/Q196538","display_name":"Microscope","level":2,"score":0.27721819281578064},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2543913722038269},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.24184295535087585},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.08006903529167175},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07570949196815491},{"id":"https://openalex.org/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5979748","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979748","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8700000047683716}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W55749180","https://openalex.org/W1568160296","https://openalex.org/W1569280314","https://openalex.org/W1985015740","https://openalex.org/W1986789340","https://openalex.org/W1995137508","https://openalex.org/W2057677696","https://openalex.org/W2065264430","https://openalex.org/W2113706627","https://openalex.org/W2127542207","https://openalex.org/W2143550187","https://openalex.org/W2170315376","https://openalex.org/W6602245860","https://openalex.org/W6681187493"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W4224217224","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W3118640947","https://openalex.org/W1678858522","https://openalex.org/W3195090107"],"abstract_inverted_index":{"High":[0],"precision":[1],"manipulation":[2],"becomes":[3],"a":[4,62,83,116,138],"recurrent":[5],"need":[6],"in":[7,22,91,115,122,134],"micro":[8],"or":[9,29],"nanoscale.":[10],"Microrobots":[11],"based":[12,72],"on":[13,73],"active":[14,35],"material":[15],"were":[16],"designed":[17],"to":[18,39,49,111,127,136],"perform":[19],"micromanipulation":[20],"tasks":[21],"various":[23],"environments":[24],"such":[25],"as":[26],"microrobotic":[27],"stations":[28],"electronic":[30],"microscopes":[31],"(SEM,":[32],"TEM).":[33],"These":[34],"materials":[36],"are":[37],"used":[38,90],"generate":[40,137],"proportional":[41],"actuation,":[42],"but":[43],"show":[44],"some":[45],"drawbacks":[46],"we":[47,60],"want":[48],"avoid":[50],"(non":[51],"linearity,":[52],"integration":[53],"of":[54,65,76,97,130],"sensors,":[55],"...).":[56],"In":[57],"this":[58,123],"paper":[59,124],"propose":[61],"new":[63],"type":[64],"microrobot,":[66],"called":[67],"digital":[68],"microrobot.":[69],"It":[70],"is":[71,109,125],"the":[74,113,128,131],"use":[75],"bistable":[77],"modules":[78],"(Fig.":[79],"1),":[80],"and":[81,94,99,102],"generates":[82],"discrete":[84],"workspace.":[85,140],"This":[86],"microrobot":[87,114],"can":[88],"be":[89],"open-loop":[92],"mode":[93],"gets":[95],"rid":[96],"bulky":[98],"expensive":[100],"instruments":[101],"sensor":[103],"integration.":[104],"Moreover,":[105],"no":[106],"external":[107],"energy":[108],"required":[110],"maintain":[112],"given":[117],"position.":[118],"The":[119],"study":[120],"presented":[121],"dedicated":[126],"design":[129],"robotic":[132],"structure":[133],"order":[135],"desired":[139]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
