{"id":"https://openalex.org/W3007543005","doi":"https://doi.org/10.1109/lra.2020.2974389","title":"Magnetically Actuated Simple Millirobots for Complex Navigation and Modular Assembly","display_name":"Magnetically Actuated Simple Millirobots for Complex Navigation and Modular Assembly","publication_year":2020,"publication_date":"2020-02-18","ids":{"openalex":"https://openalex.org/W3007543005","doi":"https://doi.org/10.1109/lra.2020.2974389","mag":"3007543005"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2974389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2974389","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5089388144","display_name":"Ehab Al Khatib","orcid":null},"institutions":[{"id":"https://openalex.org/I178169726","display_name":"Southern Methodist University","ror":"https://ror.org/042tdr378","country_code":"US","type":"education","lineage":["https://openalex.org/I178169726"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ehab Al Khatib","raw_affiliation_strings":["Department of Mechanical Engineering, Southern Methodist University, Dallas, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Southern Methodist University, Dallas, USA","institution_ids":["https://openalex.org/I178169726"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045084569","display_name":"Anuruddha Bhattacharjee","orcid":"https://orcid.org/0000-0002-4053-4029"},"institutions":[{"id":"https://openalex.org/I178169726","display_name":"Southern Methodist University","ror":"https://ror.org/042tdr378","country_code":"US","type":"education","lineage":["https://openalex.org/I178169726"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anuruddha Bhattacharjee","raw_affiliation_strings":["Department of Mechanical Engineering, Southern Methodist University, Dallas, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Southern Methodist University, Dallas, USA","institution_ids":["https://openalex.org/I178169726"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033428477","display_name":"Pouria Razzaghi","orcid":"https://orcid.org/0000-0001-8490-4442"},"institutions":[{"id":"https://openalex.org/I178169726","display_name":"Southern Methodist University","ror":"https://ror.org/042tdr378","country_code":"US","type":"education","lineage":["https://openalex.org/I178169726"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pouria Razzaghi","raw_affiliation_strings":["Department of Mechanical Engineering, Southern Methodist University, Dallas, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Southern Methodist University, Dallas, USA","institution_ids":["https://openalex.org/I178169726"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065593109","display_name":"Louis William Rogowski","orcid":"https://orcid.org/0000-0002-7623-5573"},"institutions":[{"id":"https://openalex.org/I178169726","display_name":"Southern Methodist University","ror":"https://ror.org/042tdr378","country_code":"US","type":"education","lineage":["https://openalex.org/I178169726"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Louis William Rogowski","raw_affiliation_strings":["Department of Mechanical Engineering, Southern Methodist University, Dallas, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Southern Methodist University, Dallas, USA","institution_ids":["https://openalex.org/I178169726"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062922015","display_name":"Min Jun Kim","orcid":"https://orcid.org/0000-0002-0819-1644"},"institutions":[{"id":"https://openalex.org/I178169726","display_name":"Southern Methodist University","ror":"https://ror.org/042tdr378","country_code":"US","type":"education","lineage":["https://openalex.org/I178169726"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Min Jun Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Southern Methodist University, Dallas, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Southern Methodist University, Dallas, USA","institution_ids":["https://openalex.org/I178169726"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009111405","display_name":"Yildirim H\u00fcrm\u00fczl\u00fc","orcid":"https://orcid.org/0000-0002-8593-4587"},"institutions":[{"id":"https://openalex.org/I178169726","display_name":"Southern Methodist University","ror":"https://ror.org/042tdr378","country_code":"US","type":"education","lineage":["https://openalex.org/I178169726"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yildirim Hurmuzlu","raw_affiliation_strings":["Department of Mechanical Engineering, Southern Methodist University, Dallas, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Southern Methodist University, Dallas, USA","institution_ids":["https://openalex.org/I178169726"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5089388144"],"corresponding_institution_ids":["https://openalex.org/I178169726"],"apc_list":null,"apc_paid":null,"fwci":3.6663,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.93489414,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"5","issue":"2","first_page":"2958","last_page":"2965"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9973999857902527,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/modular-design","display_name":"Modular design","score":0.6862386465072632},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6063814163208008},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5823474526405334},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.49726226925849915},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4328959882259369},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.41905465722084045},{"id":"https://openalex.org/keywords/electromagnetic-coil","display_name":"Electromagnetic coil","score":0.41047215461730957},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.38406917452812195},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3407439589500427},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2577333450317383},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.17845812439918518}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6862386465072632},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6063814163208008},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5823474526405334},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.49726226925849915},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4328959882259369},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.41905465722084045},{"id":"https://openalex.org/C30403606","wikidata":"https://www.wikidata.org/wiki/Q2981904","display_name":"Electromagnetic coil","level":2,"score":0.41047215461730957},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.38406917452812195},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3407439589500427},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2577333450317383},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.17845812439918518},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.2974389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2974389","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1765317343","display_name":null,"funder_award_id":"CMMI 1623324","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3612276858","display_name":null,"funder_award_id":"1712096","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6075220792","display_name":null,"funder_award_id":"IIS 1712088","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W223570703","https://openalex.org/W270471089","https://openalex.org/W1489731227","https://openalex.org/W1575924372","https://openalex.org/W1975419288","https://openalex.org/W1976221960","https://openalex.org/W1981586643","https://openalex.org/W1994297828","https://openalex.org/W1998062581","https://openalex.org/W2003170835","https://openalex.org/W2003961435","https://openalex.org/W2008051667","https://openalex.org/W2044603812","https://openalex.org/W2049220874","https://openalex.org/W2060504647","https://openalex.org/W2065989162","https://openalex.org/W2075273574","https://openalex.org/W2075444645","https://openalex.org/W2094122226","https://openalex.org/W2098998403","https://openalex.org/W2112196524","https://openalex.org/W2142067324","https://openalex.org/W2144419227","https://openalex.org/W2148512278","https://openalex.org/W2212898025","https://openalex.org/W2294944848","https://openalex.org/W2332670029","https://openalex.org/W2412302590","https://openalex.org/W2514202885","https://openalex.org/W2520777520","https://openalex.org/W2549803414","https://openalex.org/W2594664482","https://openalex.org/W2614442365","https://openalex.org/W2615145159","https://openalex.org/W2744045440","https://openalex.org/W2792082859","https://openalex.org/W2897012346","https://openalex.org/W2943812659","https://openalex.org/W6688881001"],"related_works":["https://openalex.org/W2381426581","https://openalex.org/W2389214306","https://openalex.org/W2024370140","https://openalex.org/W2387913980","https://openalex.org/W2159705349","https://openalex.org/W2378076731","https://openalex.org/W2105392727","https://openalex.org/W4286888643","https://openalex.org/W2965083567","https://openalex.org/W2019887508"],"abstract_inverted_index":{"Magnetic":[0],"millirobots":[1,50,72,183],"can":[2,36],"be":[3,37,154],"controlled":[4],"remotely":[5],"by":[6],"external":[7],"magnetic":[8],"fields,":[9],"making":[10],"them":[11],"promising":[12],"candidates":[13],"for":[14,45,121],"biomedical":[15],"and":[16,35,76,90,101,128,138,161,189,205],"engineering":[17],"applications.":[18],"This":[19],"letter":[20],"presents":[21],"a":[22,55,80,162,186,190,193],"low-cost":[23],"millirobot":[24,152],"that":[25,133,150],"is":[26,95,119,135],"simple":[27],"in":[28,125],"design,":[29],"easy":[30],"to":[31,97,170,202],"fabricate,":[32],"highly":[33,74],"scalable,":[34],"used":[38],"as":[39,86],"modular":[40],"sub-units":[41],"within":[42],"complex":[43],"structures":[44],"large-scale":[46],"manipulation.":[47],"The":[48],"rectangular-shaped":[49],"were":[51,65],"3D":[52],"printed":[53],"using":[54],"polylactic":[56],"acid":[57],"(PLA)":[58],"filament,":[59],"where":[60],"two":[61,179],"cylindrical":[62],"permanent":[63],"magnets":[64],"subsequently":[66],"embedded":[67],"at":[68,115],"each":[69,104],"end.":[70],"Individual":[71],"are":[73],"agile":[75],"capable":[77],"of":[78,82,103,111,142,174,208],"performing":[79],"variety":[81],"locomotive":[83],"tasks":[84],"such":[85],"pivot":[87,113],"walking,":[88],"tapping,":[89],"tumbling.":[91],"A":[92],"comparative":[93],"study":[94],"presented":[96],"demonstrate":[98,149],"the":[99,122,136,139,143,151,172,209],"advantages":[100],"disadvantages":[102],"locomotion":[105],"mode.":[106],"However,":[107],"among":[108],"these":[109],"modes":[110,145],"locomotion,":[112],"walking":[114],"millimeter":[116],"length":[117],"scale":[118],"demonstrated":[120],"first":[123],"time":[124],"this":[126,134],"letter,":[127],"our":[129,175],"experimental":[130],"data":[131],"shows":[132],"fastest":[137],"most":[140],"stable":[141],"motion":[144,167],"examined.":[146],"Further,":[147],"we":[148,177,198],"could":[153],"deployed":[155],"through":[156],"an":[157],"esophagus-like":[158],"bent":[159],"tube":[160],"maze-like":[163],"path":[164],"with":[165],"combined":[166,184],"modes.":[168],"Later,":[169],"extend":[171],"functionality":[173],"millirobots,":[176],"present":[178],"systems":[180],"utilizing":[181],"multiple":[182],"together:":[185],"stag":[187],"beetle":[188],"carbot.":[191],"Using":[192],"powerful":[194],"electromagnetic":[195],"coil":[196],"system,":[197],"conduct":[199],"extensive":[200],"experiments":[201],"establish":[203],"feasibility":[204],"practical":[206],"utility":[207],"magnetically":[210],"actuated":[211],"millirobot.":[212]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":3}],"updated_date":"2026-04-01T17:29:45.350535","created_date":"2025-10-10T00:00:00"}
