{"id":"https://openalex.org/W3036171706","doi":"https://doi.org/10.1109/robosoft48309.2020.9116056","title":"Versatile rotary actuators for small-scale robotic systems","display_name":"Versatile rotary actuators for small-scale robotic systems","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3036171706","doi":"https://doi.org/10.1109/robosoft48309.2020.9116056","mag":"3036171706"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft48309.2020.9116056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft48309.2020.9116056","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)","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/A5085853642","display_name":"Iman Adibnazari","orcid":"https://orcid.org/0000-0001-5922-1105"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Iman Adibnazari","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, at the University of California, San Diego"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, at the University of California, San Diego","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112444112","display_name":"Byung Jun Jeon","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byung Jun Jeon","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, at Seoul National University"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, at Seoul National University","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019841088","display_name":"Yong\u2010Lae Park","orcid":"https://orcid.org/0000-0002-2491-2114"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yong-Lae Park","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, at Seoul National University"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, at Seoul National University","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056621190","display_name":"Michael T. Tolley","orcid":"https://orcid.org/0000-0001-7821-7777"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael T. Tolley","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, at the University of California, San Diego"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, at the University of California, San Diego","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5085853642"],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":0.3433,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.54161087,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2","issue":null,"first_page":"873","last_page":"878"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9994999766349792,"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":0.9990000128746033,"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/actuator","display_name":"Actuator","score":0.7133607864379883},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5656242370605469},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5502835512161255},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5453330278396606},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4968264400959015},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48569807410240173},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.482652485370636},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33250701427459717},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31547480821609497},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13418257236480713}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7133607864379883},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5656242370605469},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5502835512161255},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5453330278396606},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4968264400959015},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48569807410240173},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.482652485370636},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33250701427459717},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31547480821609497},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13418257236480713},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robosoft48309.2020.9116056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft48309.2020.9116056","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6700000166893005,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1493314354","https://openalex.org/W1575369764","https://openalex.org/W1860431200","https://openalex.org/W1962898515","https://openalex.org/W1990777642","https://openalex.org/W1995797200","https://openalex.org/W2000817295","https://openalex.org/W2048362656","https://openalex.org/W2052596082","https://openalex.org/W2062691475","https://openalex.org/W2073442815","https://openalex.org/W2081469022","https://openalex.org/W2098998403","https://openalex.org/W2099915711","https://openalex.org/W2168046319","https://openalex.org/W2410712669","https://openalex.org/W2415192486","https://openalex.org/W2618465491","https://openalex.org/W2739273092","https://openalex.org/W2785110060","https://openalex.org/W2802577167","https://openalex.org/W2809317122","https://openalex.org/W2892188303","https://openalex.org/W2965456331","https://openalex.org/W2966665557","https://openalex.org/W2978685937","https://openalex.org/W6675251542"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2011222276","https://openalex.org/W2080330449","https://openalex.org/W2012658348","https://openalex.org/W2007221537","https://openalex.org/W4234906596","https://openalex.org/W4229591372","https://openalex.org/W2071544734"],"abstract_inverted_index":{"Modern":[0],"robotics":[1],"has":[2],"been":[3],"greatly":[4],"facilitated":[5],"by":[6],"the":[7,19,40,107,157],"standardized":[8],"tool":[9,34],"sets":[10,35],"surrounding":[11],"actuation":[12,47,89],"and":[13,21,42,48,63,90,100,102,125,131,156,196],"sensing":[14,49,91],"for":[15,24,66,85,137],"human-scale":[16],"systems,":[17,183,191],"with":[18,106],"design":[20,81,108],"control":[22,132,139,159],"techniques":[23],"electromechanical":[25],"motors":[26,124,179],"serving":[27],"as":[28,50,180],"a":[29,67,80,110,141,149],"prime":[30],"example.":[31],"No":[32],"such":[33],"have":[36],"become":[37],"standard":[38],"at":[39],"millimeter-":[41],"micrometer-scale":[43],"however,":[44],"often":[45],"leaving":[46],"bottlenecks":[51],"when":[52,168],"developing":[53,176],"small-scale":[54,71,189],"robotic":[55,190],"systems.":[56],"In":[57],"this":[58,104],"paper,":[59],"we":[60,135],"develop":[61],"manufacturing":[62],"algorithmic":[64],"tools":[65],"promising":[68],"class":[69],"of":[70,87,96,109,121,140,153,165],"rotary":[72,75,122,177],"actuator":[73],"-":[74],"pouch":[76,123,178],"motors.":[77],"We":[78,116],"present":[79,118],"approach":[82,105],"that":[83,134],"allows":[84],"integration":[86],"both":[88],"into":[92,129],"low-profile,":[93],"laminate":[94],"linkages":[95],"almost":[97],"arbitrary":[98],"length":[99],"complexity":[101],"demonstrate":[103],"three":[111],"degree-of-freedom":[112],"(DOF)":[113],"spatial":[114],"manipulator.":[115],"also":[117],"dynamic":[119,182],"models":[120,128],"integrate":[126],"these":[127],"estimation":[130],"laws":[133],"use":[136],"real-time":[138],"1-DOF":[142],"joint.":[143],"The":[144],"presented":[145,158],"state-estimation":[146],"algorithm":[147],"exhibits":[148],"root-mean-square":[150],"(RMS)":[151],"error":[152,164],"approximately":[154,166],"0.87\u00b0":[155],"law":[160],"demonstrates":[161],"RMS":[162],"tracking":[163,169],"6.70\u00b0":[167],"sinusoids":[170],"up":[171],"to":[172],"3":[173],"Hz.":[174],"By":[175],"controllable":[181],"they":[184],"can":[185],"used":[186],"in":[187],"myriad":[188],"including":[192],"insect-scale":[193],"legged":[194],"robots":[195],"millimeter-scale":[197],"manipulators.":[198]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
