{"id":"https://openalex.org/W1545688563","doi":"https://doi.org/10.1109/robot.2003.1242042","title":"A ciliary based 8-legged walking micro robot using cast IPMC actuators","display_name":"A ciliary based 8-legged walking micro robot using cast IPMC actuators","publication_year":2004,"publication_date":"2004-03-30","ids":{"openalex":"https://openalex.org/W1545688563","doi":"https://doi.org/10.1109/robot.2003.1242042","mag":"1545688563"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1242042","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242042","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","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/A5049516631","display_name":"Byungkyu Kim","orcid":"https://orcid.org/0000-0002-2659-6952"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byungkyu Kim","raw_affiliation_strings":["Korea Institute of Science and Technology, Microsystem Research Center, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology, Microsystem Research Center, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009370266","display_name":"Jaewook Ryu","orcid":"https://orcid.org/0000-0002-6749-192X"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaewook Ryu","raw_affiliation_strings":["Korea Institute of Science and Technology, Microsystem Research Center, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology, Microsystem Research Center, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089607836","display_name":"Younkoo Jeong","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Younkoo Jeong","raw_affiliation_strings":["Korea Institute of Science and Technology, Microsystem Research Center, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology, Microsystem Research Center, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011071460","display_name":"Younghun Tak","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Younghun Tak","raw_affiliation_strings":["Korea Institute of Science and Technology, Microsystem Research Center, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology, Microsystem Research Center, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021895683","display_name":"Byungmok Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byungmok Kim","raw_affiliation_strings":["Korea Institute of Science and Technology, Microsystem Research Center, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology, Microsystem Research Center, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031338961","display_name":"Jong\u2010Oh Park","orcid":"https://orcid.org/0000-0001-5362-2661"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jong-Oh Park","raw_affiliation_strings":["Intelligent Microsystem Center, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Microsystem Center, Seoul, South Korea","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":72,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"2940","last_page":"2945"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11608","display_name":"Dielectric materials and actuators","score":1.0,"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/T11608","display_name":"Dielectric materials and actuators","score":1.0,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9995999932289124,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9994000196456909,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.8722922205924988},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.6656219959259033},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5739529132843018},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5696422457695007},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.5486375689506531},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.47577372193336487},{"id":"https://openalex.org/keywords/electroactive-polymers","display_name":"Electroactive polymers","score":0.46717697381973267},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.4562493562698364},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4431605339050293},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4363539218902588},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.31772762537002563},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2183106243610382},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17576608061790466}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8722922205924988},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.6656219959259033},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5739529132843018},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5696422457695007},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.5486375689506531},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.47577372193336487},{"id":"https://openalex.org/C167266352","wikidata":"https://www.wikidata.org/wiki/Q543275","display_name":"Electroactive polymers","level":3,"score":0.46717697381973267},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.4562493562698364},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4431605339050293},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4363539218902588},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.31772762537002563},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2183106243610382},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17576608061790466},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2003.1242042","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242042","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1481340334","https://openalex.org/W1599909743","https://openalex.org/W1980063106","https://openalex.org/W2015508328","https://openalex.org/W2038685132","https://openalex.org/W2047766808","https://openalex.org/W2063038551","https://openalex.org/W2097836708","https://openalex.org/W2108838172","https://openalex.org/W2122230336","https://openalex.org/W2174393963","https://openalex.org/W2481852827","https://openalex.org/W2487312829","https://openalex.org/W6635612313","https://openalex.org/W6674432798"],"related_works":["https://openalex.org/W2061848878","https://openalex.org/W2053077798","https://openalex.org/W3198055371","https://openalex.org/W2104362930","https://openalex.org/W2137750971","https://openalex.org/W1631138302","https://openalex.org/W3198778559","https://openalex.org/W2158060137","https://openalex.org/W3178844618","https://openalex.org/W2042019706"],"abstract_inverted_index":{"We":[0],"have":[1],"proposed":[2],"a":[3,23,28,55,137],"prototype":[4],"model":[5,111],"of":[6,19,41,47,53,61,92,97,101,122,129,152],"walking":[7,29],"micro":[8,141],"robot":[9,160],"using":[10],"IPMC":[11,20,93,123,135],"(Ionic":[12],"Polymer":[13],"Metal":[14],"Composite)":[15],"actuators.":[16],"The":[17,51,85,159],"stiffness":[18,40],"actuator":[21,43,94,103,124],"is":[22,35,64,112,155],"key":[24],"parameter":[25,69],"to":[26,37,78,114,126,168],"implement":[27],"robot.":[30],"Therefore,":[31],"the":[32,39,42,102,116,127],"casting":[33],"process":[34,52,68],"developed":[36],"increase":[38],"by":[44,81],"controlling":[45],"thickness":[46,98],"ion-exchange":[48,62],"polymer":[49,63],"film.":[50],"fabricating":[54],"solid":[56],"film":[57,133],"front":[58],"liquid":[59],"state":[60],"difficult":[65],"since":[66],"any":[67],"and":[70,76,83,88,99,104,120,157,164],"handling":[71],"material":[72],"are":[73,107],"not":[74],"disclosed":[75],"has":[77],"be":[79,145],"set":[80],"trial":[82],"error.":[84],"bending":[86],"characteristics":[87],"generative":[89,117],"tip":[90,118],"force":[91,119],"under":[95],"variation":[96,128],"length":[100],"voltage":[105],"input":[106],"investigated.":[108],"Also,":[109],"mechanical":[110],"derived":[113],"predict":[115],"displacement":[121],"according":[125],"thickness.":[130],"With":[131],"cast":[132],"based":[134],"actuators,":[136],"ciliary":[138],"type":[139],"8-legged":[140],"robot,":[142],"which":[143],"can":[144,165],"operated":[146],"in":[147,171],"aqueous":[148],"surroundings":[149],"like":[150],"inside":[151],"human":[153],"body,":[154],"constructed":[156],"tested.":[158],"shows":[161],"good":[162],"reliability":[163],"reach":[166],"up":[167],"17":[169],"mm/min":[170],"speed.":[172]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":8}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}