{"id":"https://openalex.org/W2739080117","doi":"https://doi.org/10.1109/icra.2017.7989710","title":"Steerable miniature legged robot driven by a single piezoelectric bending unimorph actuator","display_name":"Steerable miniature legged robot driven by a single piezoelectric bending unimorph actuator","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2739080117","doi":"https://doi.org/10.1109/icra.2017.7989710","mag":"2739080117"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989710","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-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/A5078874206","display_name":"Audelia G. Dharmawan","orcid":null},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Audelia G. Dharmawan","raw_affiliation_strings":["Singapore University of Technology and Design, Engineering Product Development Pillar, Singapore","Singapore University of Technology and Design,Engineering Product Development Pillar,8 Somapah Road,Singapore,487372"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design, Engineering Product Development Pillar, Singapore","institution_ids":["https://openalex.org/I152815399"]},{"raw_affiliation_string":"Singapore University of Technology and Design,Engineering Product Development Pillar,8 Somapah Road,Singapore,487372","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028014172","display_name":"Hassan Hariri","orcid":"https://orcid.org/0000-0001-7842-8398"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hassan H. Hariri","raw_affiliation_strings":["Singapore University of Technology and Design, Engineering Product Development Pillar, Singapore","Singapore University of Technology and Design,Engineering Product Development Pillar,8 Somapah Road,Singapore,487372"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design, Engineering Product Development Pillar, Singapore","institution_ids":["https://openalex.org/I152815399"]},{"raw_affiliation_string":"Singapore University of Technology and Design,Engineering Product Development Pillar,8 Somapah Road,Singapore,487372","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021980751","display_name":"Shaohui Foong","orcid":"https://orcid.org/0000-0002-9724-6159"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shaohui Foong","raw_affiliation_strings":["Singapore University of Technology and Design, Engineering Product Development Pillar, Singapore","Singapore University of Technology and Design,Engineering Product Development Pillar,8 Somapah Road,Singapore,487372"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design, Engineering Product Development Pillar, Singapore","institution_ids":["https://openalex.org/I152815399"]},{"raw_affiliation_string":"Singapore University of Technology and Design,Engineering Product Development Pillar,8 Somapah Road,Singapore,487372","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018044324","display_name":"Gim Song Soh","orcid":"https://orcid.org/0000-0002-0042-5151"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gim Song Soh","raw_affiliation_strings":["Singapore University of Technology and Design, Engineering Product Development Pillar, Singapore","Singapore University of Technology and Design,Engineering Product Development Pillar,8 Somapah Road,Singapore,487372"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design, Engineering Product Development Pillar, Singapore","institution_ids":["https://openalex.org/I152815399"]},{"raw_affiliation_string":"Singapore University of Technology and Design,Engineering Product Development Pillar,8 Somapah Road,Singapore,487372","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033426375","display_name":"Kristin L. Wood","orcid":"https://orcid.org/0000-0002-0553-5528"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kristin L. Wood","raw_affiliation_strings":["Singapore University of Technology and Design, Engineering Product Development Pillar, Singapore","Singapore University of Technology and Design,Engineering Product Development Pillar,8 Somapah Road,Singapore,487372"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design, Engineering Product Development Pillar, Singapore","institution_ids":["https://openalex.org/I152815399"]},{"raw_affiliation_string":"Singapore University of Technology and Design,Engineering Product Development Pillar,8 Somapah Road,Singapore,487372","institution_ids":["https://openalex.org/I152815399"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2314,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.87394617,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6008","last_page":"6013"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9966999888420105,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9944999814033508,"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/unimorph","display_name":"Unimorph","score":0.8985601663589478},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7036275863647461},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5827948451042175},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.5354053974151611},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5178337693214417},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.4851692318916321},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47775474190711975},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.47526711225509644},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.47222900390625},{"id":"https://openalex.org/keywords/piezoelectricity","display_name":"Piezoelectricity","score":0.4159855246543884},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40684887766838074},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3575955629348755},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.15914463996887207},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.14095962047576904},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11713314056396484}],"concepts":[{"id":"https://openalex.org/C2779055265","wikidata":"https://www.wikidata.org/wiki/Q7885234","display_name":"Unimorph","level":3,"score":0.8985601663589478},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7036275863647461},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5827948451042175},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5354053974151611},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5178337693214417},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.4851692318916321},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47775474190711975},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.47526711225509644},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.47222900390625},{"id":"https://openalex.org/C100082104","wikidata":"https://www.wikidata.org/wiki/Q183759","display_name":"Piezoelectricity","level":2,"score":0.4159855246543884},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40684887766838074},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3575955629348755},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.15914463996887207},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.14095962047576904},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11713314056396484},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989710","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1526626664","https://openalex.org/W1545542339","https://openalex.org/W1975023576","https://openalex.org/W1975509856","https://openalex.org/W1977421569","https://openalex.org/W1982636603","https://openalex.org/W1986771038","https://openalex.org/W1996337547","https://openalex.org/W2001121590","https://openalex.org/W2015887525","https://openalex.org/W2017263399","https://openalex.org/W2029869300","https://openalex.org/W2039279693","https://openalex.org/W2096169664","https://openalex.org/W2098998403","https://openalex.org/W2126613555","https://openalex.org/W2135608640","https://openalex.org/W2149341969","https://openalex.org/W2416490865","https://openalex.org/W2417298877","https://openalex.org/W2523925451","https://openalex.org/W2529021032","https://openalex.org/W2560779122","https://openalex.org/W2563911022","https://openalex.org/W4319261232","https://openalex.org/W6653975460","https://openalex.org/W6731165579","https://openalex.org/W6844540114"],"related_works":["https://openalex.org/W184456770","https://openalex.org/W2056088825","https://openalex.org/W2038255975","https://openalex.org/W2123932274","https://openalex.org/W2267964211","https://openalex.org/W2789726182","https://openalex.org/W3034624278","https://openalex.org/W3194811446","https://openalex.org/W2038431281","https://openalex.org/W4294673002"],"abstract_inverted_index":{"In":[0],"small":[1],"mobile":[2],"robots,":[3],"decreasing":[4],"the":[5,14,19,26,29,38,82,88,100,111,118,121,136],"number":[6],"of":[7,18,28,32,44,64,87,99,110,120,135,140],"actuators":[8],"is":[9,23,78,128,151],"usually":[10,24],"desirable":[11],"to":[12,67,103],"reduce":[13],"size":[15],"and":[16,40,60,95,131,143,149,153],"weight":[17],"robot,":[20],"but":[21],"it":[22],"at":[25,91],"expense":[27],"robot's":[30,101],"degree":[31],"freedom":[33],"(DOF).":[34],"This":[35],"work":[36],"presents":[37],"development":[39],"preliminary":[41,133],"experimental":[42],"testing":[43],"a":[45,55,105,132],"novel":[46],"Legged":[47],"Piezoelectric":[48],"Miniature":[49],"Robot":[50],"(LPMR)":[51],"driven":[52],"only":[53],"by":[54,80],"single":[56],"piezoelectric":[57,89],"unimorph":[58],"actuator":[59,90],"yet":[61],"fully":[62],"capable":[63],"being":[65],"maneuvered":[66],"move":[68],"forward,":[69],"turn":[70,73],"right,":[71],"or":[72],"left.":[74],"The":[75,108,124],"underactuated":[76,126],"motion":[77],"achieved":[79],"exploiting":[81],"bending":[83],"vibration":[84],"modes":[85],"disparity":[86],"different":[92],"driving":[93],"frequencies":[94],"designing":[96],"specific":[97],"positions":[98],"legs":[102],"generate":[104],"differential-drive-like":[106],"mechanism.":[107],"speed":[109,145],"robot":[112],"can":[113],"be":[114],"controlled":[115],"through":[116],"regulating":[117],"magnitude":[119],"applied":[122,147],"voltage.":[123],"proposed":[125],"system":[127],"experimentally":[129],"verified":[130],"characterization":[134],"LPMR":[137],"in":[138],"terms":[139],"its":[141],"forward":[142],"turning":[144],"versus":[146],"voltage":[148],"payload":[150],"investigated":[152],"reported.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}