{"id":"https://openalex.org/W2156592400","doi":"https://doi.org/10.1109/iros.2011.6095140","title":"Micro-scale propulsion using multiple flexible artificial flagella","display_name":"Micro-scale propulsion using multiple flexible artificial flagella","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2156592400","doi":"https://doi.org/10.1109/iros.2011.6095140","mag":"2156592400"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6095140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095140","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5003347472","display_name":"John Singleton","orcid":"https://orcid.org/0000-0002-6104-9911"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Singleton","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021398654","display_name":"Eric Diller","orcid":"https://orcid.org/0000-0003-4627-0797"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric Diller","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007449362","display_name":"Tim Andersen","orcid":"https://orcid.org/0000-0002-0279-2422"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tim Andersen","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081525094","display_name":"Jean-Claude R\u00e9gnier","orcid":"https://orcid.org/0000-0001-6992-9027"},"institutions":[{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Stephane Regnier","raw_affiliation_strings":["Institute of Intelligent Systems and Robotics, University Pierre et Marie Curie, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Systems and Robotics, University Pierre et Marie Curie, Paris, France","institution_ids":["https://openalex.org/I39804081","https://openalex.org/I4210150358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079968392","display_name":"Metin Sitti","orcid":"https://orcid.org/0000-0001-8249-3854"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Metin Sitti","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.9372,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.97042878,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1687","last_page":"1692"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"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":1.0,"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/T11255","display_name":"Microfluidic and Bio-sensing Technologies","score":0.9847999811172485,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.983299970626831,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/flagellum","display_name":"Flagellum","score":0.8963785171508789},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.7530794143676758},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.6678346991539001},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.6406850218772888},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5863808393478394},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.49855542182922363},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3754922151565552},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.36184293031692505},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3539758324623108},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.31779563426971436},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2712579369544983},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27026161551475525},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24354946613311768},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.13387542963027954}],"concepts":[{"id":"https://openalex.org/C115811362","wikidata":"https://www.wikidata.org/wiki/Q189998","display_name":"Flagellum","level":3,"score":0.8963785171508789},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.7530794143676758},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.6678346991539001},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.6406850218772888},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5863808393478394},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.49855542182922363},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3754922151565552},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.36184293031692505},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3539758324623108},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.31779563426971436},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2712579369544983},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27026161551475525},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24354946613311768},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.13387542963027954},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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},{"id":"https://openalex.org/C523546767","wikidata":"https://www.wikidata.org/wiki/Q10876","display_name":"Bacteria","level":2,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2011.6095140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095140","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.431.6106","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.431.6106","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.isir.upmc.fr/files/2011ACTI2120.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2015230808","https://openalex.org/W2017715371","https://openalex.org/W2017775429","https://openalex.org/W2018108785","https://openalex.org/W2046292375","https://openalex.org/W2100085950","https://openalex.org/W2111600712","https://openalex.org/W2156477602","https://openalex.org/W2161381314","https://openalex.org/W2168046319","https://openalex.org/W2169012616","https://openalex.org/W3148958083","https://openalex.org/W4239173138"],"related_works":["https://openalex.org/W2995656839","https://openalex.org/W1841624101","https://openalex.org/W2142066514","https://openalex.org/W2129749251","https://openalex.org/W2058637570","https://openalex.org/W2765172718","https://openalex.org/W2040174473","https://openalex.org/W2136381818","https://openalex.org/W1510405023","https://openalex.org/W4387835011"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,8,30,79,98,139],"method":[3,28,141],"to":[4,44,86,96,115,142],"increase":[5],"propulsion":[6,51],"of":[7,20,29,48,55,89,111,129,133],"micro-scale":[9],"swimming":[10],"robot":[11],"powered":[12],"by":[13,72],"an":[14],"artificial":[15,148],"flagellum":[16,99],"through":[17],"the":[18,25,46,87,93,102,127,131],"use":[19,132],"multiple":[21,134],"helices":[22,70,113],"while":[23],"retaining":[24],"simple":[26],"actuation":[27],"single":[31],"rotation":[32,81,104],"axis.":[33],"Scaled":[34],"up":[35],"experiments":[36],"with":[37,53],"similar":[38],"Reynolds":[39],"number":[40,88],"are":[41],"carried":[42],"out":[43],"compare":[45],"performance":[47],"five":[49],"different":[50],"designs":[52,61],"pairs":[54],"stiff":[56,63],"or":[57],"flexible":[58,66,69,112,136],"flagella.":[59,74,150],"The":[60],"feature":[62],"helices,":[64,90],"straight":[65],"rods,":[67],"and":[68],"inspired":[71],"bacterial":[73],"Results":[75],"indicate":[76],"that":[77,92],"for":[78],"given":[80,126],"frequency,":[82],"thrust":[83,121,145],"is":[84,106,138],"proportional":[85],"but":[91],"torque":[94],"required":[95],"drive":[97],"offset":[100,135],"from":[101],"common":[103],"axis":[105],"increased.":[107],"Furthermore,":[108],"shape":[109],"deformation":[110],"due":[114],"bending":[116],"forces":[117],"can":[118],"positively":[119],"affect":[120],"under":[122],"certain":[123],"conditions.":[124],"Therefore,":[125],"ease":[128],"fabrication,":[130],"flagella":[137],"potential":[140],"achieve":[143],"increased":[144],"force":[146],"in":[147],"bacteria":[149]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
