{"id":"https://openalex.org/W2568007118","doi":"https://doi.org/10.1109/iecon.2016.7793930","title":"Mechanical structure for high speed locomotion of MEMS microrobot using SMA rotary actuator","display_name":"Mechanical structure for high speed locomotion of MEMS microrobot using SMA rotary actuator","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2568007118","doi":"https://doi.org/10.1109/iecon.2016.7793930","mag":"2568007118"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2016.7793930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2016.7793930","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society","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/A5011925043","display_name":"Kazuki Sugita","orcid":"https://orcid.org/0000-0003-2879-0422"},"institutions":[{"id":"https://openalex.org/I104946051","display_name":"Nihon University","ror":"https://ror.org/05jk51a88","country_code":"JP","type":"education","lineage":["https://openalex.org/I104946051"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuki Sugita","raw_affiliation_strings":["Department of Precision Machinery Engineering, Nihon University, Chiba, Japan","Dept. of Precision Machinery Engineering, Graduate School of Science and Technology, Nihon University, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Machinery Engineering, Nihon University, Chiba, Japan","institution_ids":["https://openalex.org/I104946051"]},{"raw_affiliation_string":"Dept. of Precision Machinery Engineering, Graduate School of Science and Technology, Nihon University, Chiba, Japan","institution_ids":["https://openalex.org/I104946051"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018843064","display_name":"Minami Takato","orcid":null},"institutions":[{"id":"https://openalex.org/I104946051","display_name":"Nihon University","ror":"https://ror.org/05jk51a88","country_code":"JP","type":"education","lineage":["https://openalex.org/I104946051"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Minami Takato","raw_affiliation_strings":["Department of Precision Machinery Engineering, Nihon University, Chiba, Japan","Dept. of Precision Machinery Engineering, Graduate School of Science and Technology, Nihon University, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Machinery Engineering, Nihon University, Chiba, Japan","institution_ids":["https://openalex.org/I104946051"]},{"raw_affiliation_string":"Dept. of Precision Machinery Engineering, Graduate School of Science and Technology, Nihon University, Chiba, Japan","institution_ids":["https://openalex.org/I104946051"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086546709","display_name":"Ken Saito","orcid":"https://orcid.org/0000-0001-7126-3025"},"institutions":[{"id":"https://openalex.org/I104946051","display_name":"Nihon University","ror":"https://ror.org/05jk51a88","country_code":"JP","type":"education","lineage":["https://openalex.org/I104946051"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ken Saito","raw_affiliation_strings":["Department of Precision Machinery Engineering, Nihon University, Chiba, Japan","Dept. of Precision Machinery Engineering, Graduate School of Science and Technology, Nihon University, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Machinery Engineering, Nihon University, Chiba, Japan","institution_ids":["https://openalex.org/I104946051"]},{"raw_affiliation_string":"Dept. of Precision Machinery Engineering, Graduate School of Science and Technology, Nihon University, Chiba, Japan","institution_ids":["https://openalex.org/I104946051"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112555796","display_name":"Fumio Uchikoba","orcid":null},"institutions":[{"id":"https://openalex.org/I104946051","display_name":"Nihon University","ror":"https://ror.org/05jk51a88","country_code":"JP","type":"education","lineage":["https://openalex.org/I104946051"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumio Uchikoba","raw_affiliation_strings":["Department of Precision Machinery Engineering, Nihon University, Chiba, Japan","Dept. of Precision Machinery Engineering, Graduate School of Science and Technology, Nihon University, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Machinery Engineering, Nihon University, Chiba, Japan","institution_ids":["https://openalex.org/I104946051"]},{"raw_affiliation_string":"Dept. of Precision Machinery Engineering, Graduate School of Science and Technology, Nihon University, Chiba, Japan","institution_ids":["https://openalex.org/I104946051"]}]}],"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":0.15100335,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"6146","last_page":"6151"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9987000226974487,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9983000159263611,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/sma*","display_name":"SMA*","score":0.8979634046554565},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.8444902896881104},{"id":"https://openalex.org/keywords/microelectromechanical-systems","display_name":"Microelectromechanical systems","score":0.7966040372848511},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.45895060896873474},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.4414103329181671},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3910205066204071},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.382531076669693},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3705601096153259},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.340011864900589},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20763367414474487},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11238443851470947},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.08739948272705078}],"concepts":[{"id":"https://openalex.org/C161921814","wikidata":"https://www.wikidata.org/wiki/Q493743","display_name":"SMA*","level":2,"score":0.8979634046554565},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8444902896881104},{"id":"https://openalex.org/C37977207","wikidata":"https://www.wikidata.org/wiki/Q175561","display_name":"Microelectromechanical systems","level":2,"score":0.7966040372848511},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.45895060896873474},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.4414103329181671},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3910205066204071},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.382531076669693},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3705601096153259},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.340011864900589},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20763367414474487},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11238443851470947},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.08739948272705078},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon.2016.7793930","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2016.7793930","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309995","display_name":"Nihon University","ror":"https://ror.org/05jk51a88"},{"id":"https://openalex.org/F4320322832","display_name":"University of Tokyo","ror":"https://ror.org/057zh3y96"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1977526326","https://openalex.org/W2025045734","https://openalex.org/W2122448988","https://openalex.org/W2154412128","https://openalex.org/W2319257861"],"related_works":["https://openalex.org/W2966243206","https://openalex.org/W2349923693","https://openalex.org/W2320465958","https://openalex.org/W1502247793","https://openalex.org/W2321032559","https://openalex.org/W2089945071","https://openalex.org/W2329122747","https://openalex.org/W4224212509","https://openalex.org/W2585261412","https://openalex.org/W2903587274"],"abstract_inverted_index":{"The":[0,33,62,83,113],"hexapod":[1,17],"legs":[2],"of":[3,26,86,91,167,200],"insects":[4],"achieve":[5,163],"stable":[6],"walking":[7,16,23,166],"motions":[8],"on":[9,50,78],"various":[10],"surfaces.":[11],"This":[12],"paper":[13],"proposes":[14],"a":[15,101,110,117,154,178,215],"microrobot":[18,170,226],"that":[19],"mimics":[20],"an":[21,30,73,128],"insect's":[22],"behavior.":[24],"Miniaturization":[25],"the":[27,40,51,59,89,92,107,132,139,147,151,168,173,197,201,208,225],"robot":[28],"is":[29,37,48,66,116,123],"important":[31],"issue.":[32],"miniaturized":[34],"robotic":[35],"component":[36],"fabricated":[38],"by":[39,100,125,172,223],"micro":[41],"electro":[42],"mechanical":[43],"systems":[44],"(MEMS)":[45],"process,":[46,103,156],"which":[47,98,157],"based":[49,77],"IC":[52,220],"production":[53],"process":[54],"using":[55],"silicon":[56,70],"wafer":[57],"as":[58],"starting":[60],"material.":[61],"miniature":[63,69],"rotary":[64,121],"actuator":[65,152],"constructed":[67],"from":[68],"components":[71],"and":[72,187,191],"artificial":[74,95,133,140,174,202,217],"muscle":[75,96,134,141,175,203],"wire":[76,176,204],"shape":[79],"memory":[80],"alloy":[81],"(SMA).":[82],"material":[84,115],"property":[85],"SMA":[87],"enables":[88],"miniaturization":[90],"actuator.":[93],"Four":[94],"wires,":[97],"shrink":[99],"heating":[102,137],"are":[104,205],"attached":[105],"to":[106,131],"rotor":[108,180],"in":[109],"four-through":[111],"pattern.":[112],"joining":[114],"conductive":[118],"paste.":[119],"A":[120],"motion":[122],"generated":[124],"successively":[126],"passing":[127],"electric":[129],"current":[130],"wire.":[135],"Continuous":[136],"shrinks":[138],"wire,":[142],"decreasing":[143],"its":[144,159,188],"displacement":[145],"during":[146],"rotational":[148],"motion.":[149],"Therefore,":[150],"requires":[153],"cooling":[155],"reduces":[158],"operating":[160],"speed.":[161],"To":[162],"high-speed":[164],"operational":[165],"MEMS":[169],"locomotion":[171],"actuator,":[177],"two-hole-type":[179],"with":[181,214],"low":[182],"heat":[183,192],"capacity":[184],"was":[185],"developed,":[186],"thermal":[189],"distribution":[190],"transition":[193],"were":[194],"observed.":[195],"Also,":[196],"lead":[198],"wires":[199],"located":[206],"inside":[207],"microrobot's":[209],"body.":[210],"After":[211],"externally":[212],"connecting":[213],"pulse-type":[216],"neural":[218],"network":[219],"controller":[221],"developed":[222],"us,":[224],"traveled":[227],"at":[228],"21.2":[229],"mm/min.":[230]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}