{"id":"https://openalex.org/W4416750427","doi":"https://doi.org/10.1109/iros60139.2025.11247311","title":"Design of a swimming microrobot powered by a single piezoelectric bender","display_name":"Design of a swimming microrobot powered by a single piezoelectric bender","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750427","doi":"https://doi.org/10.1109/iros60139.2025.11247311"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247311","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5063038147","display_name":"Cameron Urban","orcid":"https://orcid.org/0000-0003-4669-1903"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cameron Urban","raw_affiliation_strings":["Cornell University,Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036373686","display_name":"Tyler King","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]},{"id":"https://openalex.org/I4210092791","display_name":"New York State College of Agriculture & Life Sciences","ror":"https://ror.org/00j52pq61","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295","https://openalex.org/I4210092791"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tyler King","raw_affiliation_strings":["Cornell University,Ann S. Bowers College of Computing and Information Science,Ithaca,NY,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,Ann S. Bowers College of Computing and Information Science,Ithaca,NY,USA","institution_ids":["https://openalex.org/I205783295","https://openalex.org/I4210092791"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030897430","display_name":"Rafael Gottlieb","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rafael Gottlieb","raw_affiliation_strings":["Cornell University,Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115601457","display_name":"Hang Gao","orcid":"https://orcid.org/0009-0001-6616-3107"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hang Gao","raw_affiliation_strings":["Cornell University,Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,Sibley School of Mechanical and Aerospace Engineering,Ithaca,NY,USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007212948","display_name":"E. Farrell Helbling","orcid":"https://orcid.org/0000-0003-3321-7161"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. Farrell Helbling","raw_affiliation_strings":["Cornell University,School of Electrical and Computer Engineering,Ithaca,NY,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,School of Electrical and Computer Engineering,Ithaca,NY,USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"14066","last_page":"14072"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.8180999755859375,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.8180999755859375,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.06889999657869339,"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/T11608","display_name":"Dielectric materials and actuators","score":0.020400000736117363,"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/robot","display_name":"Robot","score":0.7042999863624573},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6276000142097473},{"id":"https://openalex.org/keywords/bimorph","display_name":"Bimorph","score":0.6133000254631042},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6061999797821045},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49950000643730164},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4758000075817108},{"id":"https://openalex.org/keywords/fin","display_name":"Fin","score":0.397599995136261},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.33500000834465027}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7042999863624573},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6276000142097473},{"id":"https://openalex.org/C2778393539","wikidata":"https://www.wikidata.org/wiki/Q4913759","display_name":"Bimorph","level":3,"score":0.6133000254631042},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6061999797821045},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49950000643730164},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4758000075817108},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4512999951839447},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.45100000500679016},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.42739999294281006},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3995000123977661},{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.397599995136261},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.382099986076355},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.33500000834465027},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3276999890804291},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3215999901294708},{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.31709998846054077},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30300000309944153},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.29840001463890076},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.28450000286102295},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.27469998598098755},{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.2563000023365021},{"id":"https://openalex.org/C180205008","wikidata":"https://www.wikidata.org/wiki/Q159190","display_name":"Amplitude","level":2,"score":0.2549999952316284},{"id":"https://openalex.org/C2988134249","wikidata":"https://www.wikidata.org/wiki/Q22932371","display_name":"Deep water","level":2,"score":0.25440001487731934},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247311","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1911898688","https://openalex.org/W1971094840","https://openalex.org/W1991055075","https://openalex.org/W2140316998","https://openalex.org/W2463052324","https://openalex.org/W2765248538","https://openalex.org/W3212645628","https://openalex.org/W4231204125","https://openalex.org/W4281638045","https://openalex.org/W4297425289","https://openalex.org/W4307309175","https://openalex.org/W4381330433","https://openalex.org/W4387574445","https://openalex.org/W4390874575","https://openalex.org/W4391995243","https://openalex.org/W4402842598"],"related_works":[],"abstract_inverted_index":{"Countless":[0],"underwater":[1],"robots":[2,67],"seek":[3],"to":[4,32,77,115,157],"monitor":[5],"aquatic":[6],"environments":[7],"while":[8],"minimizing":[9],"their":[10,155],"impact":[11],"on":[12],"fragile":[13],"ecosystems.":[14],"At":[15,108],"mm-scales,":[16],"these":[17],"systems":[18,76],"can":[19,54,68],"be":[20,56,71],"used":[21,59],"in":[22,46],"a":[23,84,90,158,165],"range":[24],"of":[25,100,104,118,136],"waterways,":[26],"from":[27],"shallow":[28],"streams":[29],"and":[30,35,37,134,144,151,153],"rivers,":[31],"larger":[33],"ponds":[34],"lakes,":[36],"navigate":[38],"around":[39],"large":[40],"obstacles":[41],"or":[42,50],"through":[43],"tight":[44],"spaces":[45],"coral":[47],"reefs,":[48],"mangroves,":[49],"pipe":[51],"systems.":[52],"They":[53],"also":[55],"more":[57,69],"readily":[58],"as":[60,65,139,141],"platforms":[61],"for":[62],"biological":[63],"study,":[64],"small-scale":[66],"easily":[70],"integrated":[72],"into":[73],"bench-top":[74],"characterization":[75],"verify":[78],"hydrodynamic":[79],"performance.":[80],"Here,":[81],"we":[82],"present":[83,130],"new":[85],"robotic":[86],"platform,":[87],"the":[88,116,121,131],"Daniobot,":[89],"16.5mm":[91],"body":[92],"length":[93,111],"(BL)":[94],"microrobotic":[95],"fish":[96],"that":[97],"is":[98],"capable":[99],"achieving":[101],"top":[102],"speeds":[103],"2.84BLs<sup":[105],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[106],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u22121</sup>.":[107],"23.8mm":[109],"total":[110],"(TL),":[112],"Daniobot":[113],"is,":[114],"best":[117],"our":[119],"knowledge,":[120],"smallest":[122],"fish-inspired":[123],"robot":[124,138],"propelled":[125],"by":[126],"onboard":[127],"actuators.":[128],"We":[129],"design,":[132],"fabrication,":[133],"assembly":[135],"this":[137],"well":[140],"detailed":[142],"position":[143],"velocity":[145],"results":[146],"at":[147,171],"varying":[148],"tail":[149],"amplitudes":[150],"frequencies,":[152],"compare":[154],"trends":[156],"simple":[159],"analytical":[160],"model.":[161],"This":[162],"design":[163],"uses":[164],"single":[166],"PZT":[167],"bimorph":[168],"actuator":[169],"operating":[170],"175V,":[172],"enabling":[173],"future":[174],"untethered":[175],"experiments.":[176]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
