{"id":"https://openalex.org/W2135806545","doi":"https://doi.org/10.1109/icra.2011.5980543","title":"Multi-material compliant mechanisms for mobile millirobots","display_name":"Multi-material compliant mechanisms for mobile millirobots","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2135806545","doi":"https://doi.org/10.1109/icra.2011.5980543","mag":"2135806545"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980543","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":"conference-paper","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/A5029461916","display_name":"Dana Vogtmann","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dana E. Vogtmann","raw_affiliation_strings":["Department of Mechanical Engineering, the Institute for Systems Research, and the Maryland Robotics Center, University of Maryland, College Park, USA","University of Maryland \u2014 College Park, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, the Institute for Systems Research, and the Maryland Robotics Center, University of Maryland, College Park, USA","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"University of Maryland \u2014 College Park, USA,","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083094281","display_name":"Satyandra K. Gupta","orcid":"https://orcid.org/0000-0002-6025-7903"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Satyandra K. Gupta","raw_affiliation_strings":["University of Maryland, College Park, USA","Department of Mechanical Engineering, the Institute for Systems Research, and the Maryland Robotics Center, University of Maryland, College Park, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland, College Park, USA","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"Department of Mechanical Engineering, the Institute for Systems Research, and the Maryland Robotics Center, University of Maryland, College Park, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051309977","display_name":"Sarah Bergbreiter","orcid":"https://orcid.org/0000-0003-2735-0206"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sarah Bergbreiter","raw_affiliation_strings":["Department of Mechanical Engineering, the Institute for Systems Research, and the Maryland Robotics Center, University of Maryland, College Park, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, the Institute for Systems Research, and the Maryland Robotics Center, University of Maryland, College Park, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":2.5869,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.89602144,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3169","last_page":"3174"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9973000288009644,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.996399998664856,"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/hexapod","display_name":"Hexapod","score":0.9187280535697937},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.7047260403633118},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.5628580451011658},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5397824048995972},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5008158683776855},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4840313792228699},{"id":"https://openalex.org/keywords/material-properties","display_name":"Material properties","score":0.4414524435997009},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.43307673931121826},{"id":"https://openalex.org/keywords/compliant-mechanism","display_name":"Compliant mechanism","score":0.421970009803772},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.39691799879074097},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3582497835159302},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.24874034523963928},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23049461841583252},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.167231947183609},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.14228039979934692},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.09333056211471558},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08734187483787537},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.08226406574249268}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9187280535697937},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.7047260403633118},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.5628580451011658},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5397824048995972},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5008158683776855},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4840313792228699},{"id":"https://openalex.org/C31555180","wikidata":"https://www.wikidata.org/wiki/Q3523867","display_name":"Material properties","level":2,"score":0.4414524435997009},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.43307673931121826},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.421970009803772},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.39691799879074097},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3582497835159302},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.24874034523963928},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23049461841583252},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.167231947183609},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.14228039979934692},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.09333056211471558},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08734187483787537},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.08226406574249268},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980543","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1963689385","https://openalex.org/W2024084391","https://openalex.org/W2096169664","https://openalex.org/W2098998403","https://openalex.org/W2100541914","https://openalex.org/W2131461078"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W613729187","https://openalex.org/W2789574804","https://openalex.org/W2114803124","https://openalex.org/W2063353256","https://openalex.org/W123722128","https://openalex.org/W4390269031","https://openalex.org/W4389787393","https://openalex.org/W2375689201","https://openalex.org/W2725083285"],"abstract_inverted_index":{"This":[0,41,112],"paper":[1],"describes":[2],"a":[3,28,37,45,52,104,125],"new":[4],"process":[5,20],"for":[6,13,44],"fabricating":[7],"planar,":[8],"multi-material,":[9],"compliant":[10,73,101],"mechanisms,":[11],"intended":[12],"use":[14,98],"in":[15,61,103],"small":[16],"scale":[17],"robotics.":[18],"The":[19],"involves":[21],"laser":[22],"cutting":[23],"the":[24,33,96],"mechanism":[25],"geometry":[26],"from":[27],"rigid":[29],"material,":[30],"and":[31,83],"refilling":[32],"joint":[34],"areas":[35],"with":[36,51,66,124],"second,":[38],"elastomeric":[39],"material.":[40],"method":[42],"allows":[43],"large":[46],"set":[47],"of":[48,55,79,99,129],"potential":[49],"materials,":[50],"wide":[53],"range":[54],"material":[56],"properties,":[57],"to":[58,63,121,131],"be":[59],"used":[60],"combination":[62],"create":[64],"mechanisms":[65,74,102],"highly":[67],"tailored":[68],"mechanical":[69],"properties.":[70],"These":[71],"multi-material":[72],"have":[75,84],"minimum":[76],"feature":[77],"sizes":[78],"approximately":[80],"100":[81],"\u00b5m":[82],"demonstrated":[85,116],"long":[86],"lifetimes,":[87],"easily":[88],"surviving":[89],"100,000":[90],"bending":[91],"cycles.":[92],"We":[93],"also":[94],"present":[95],"first":[97],"these":[100],"2.5cm":[105,107],"\u00d7":[106,108],"7.5cm,":[109],"6g":[110],"hexapod.":[111],"hexapod":[113],"has":[114],"been":[115],"moving":[117],"at":[118],"speeds":[119],"up":[120,130],"6":[122],"cm/s,":[123],"predicted":[126],"maximum":[127],"speed":[128],"17":[132],"cm/s.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}