{"id":"https://openalex.org/W2168838142","doi":"https://doi.org/10.1109/robot.2004.1308760","title":"A SMA actuated artificial earthworm","display_name":"A SMA actuated artificial earthworm","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2168838142","doi":"https://doi.org/10.1109/robot.2004.1308760","mag":"2168838142"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1308760","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308760","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5048610531","display_name":"Arianna Menciassi","orcid":"https://orcid.org/0000-0001-6348-1081"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"A. Menciassi","raw_affiliation_strings":["Scuola Superiore Sant'Anna, Center for Research in Microengineering - CRIM Lab, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant'Anna, Center for Research in Microengineering - CRIM Lab, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049390208","display_name":"S. Gorini","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"S. Gorini","raw_affiliation_strings":["Scuola Superiore Sant'Anna, Center for Research in Microengineering - CRIM Lab, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant'Anna, Center for Research in Microengineering - CRIM Lab, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004595443","display_name":"G. Pernorio","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"G. Pernorio","raw_affiliation_strings":["Scuola Superiore Sant'Anna, Center for Research in Microengineering - CRIM Lab, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant'Anna, Center for Research in Microengineering - CRIM Lab, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076392384","display_name":"Paolo Dario","orcid":"https://orcid.org/0000-0001-9489-0056"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"P. Dario","raw_affiliation_strings":["Scuola Superiore Sant'Anna, Center for Research in Microengineering - CRIM Lab, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant'Anna, Center for Research in Microengineering - CRIM Lab, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5048610531"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":5.1024,"has_fulltext":false,"cited_by_count":159,"citation_normalized_percentile":{"value":0.96193668,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3282","last_page":"3287 Vol.4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9994999766349792,"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":0.9994999766349792,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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":0.9987999796867371,"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/earthworm","display_name":"Earthworm","score":0.8476749658584595},{"id":"https://openalex.org/keywords/sma*","display_name":"SMA*","score":0.6206539273262024},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.6129700541496277},{"id":"https://openalex.org/keywords/replication","display_name":"Replication (statistics)","score":0.5364347696304321},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5247374176979065},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4990847110748291},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4217315912246704},{"id":"https://openalex.org/keywords/replicate","display_name":"Replicate","score":0.4122942090034485},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.40784645080566406},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3401683270931244},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33836573362350464},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.3234803080558777},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.26622092723846436},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21703770756721497},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.1924867033958435},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.17208760976791382},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1414823830127716}],"concepts":[{"id":"https://openalex.org/C2776332788","wikidata":"https://www.wikidata.org/wiki/Q124378","display_name":"Earthworm","level":2,"score":0.8476749658584595},{"id":"https://openalex.org/C161921814","wikidata":"https://www.wikidata.org/wiki/Q493743","display_name":"SMA*","level":2,"score":0.6206539273262024},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.6129700541496277},{"id":"https://openalex.org/C12590798","wikidata":"https://www.wikidata.org/wiki/Q3933199","display_name":"Replication (statistics)","level":2,"score":0.5364347696304321},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5247374176979065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4990847110748291},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4217315912246704},{"id":"https://openalex.org/C2781162219","wikidata":"https://www.wikidata.org/wiki/Q26250693","display_name":"Replicate","level":2,"score":0.4122942090034485},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.40784645080566406},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3401683270931244},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33836573362350464},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.3234803080558777},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.26622092723846436},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21703770756721497},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.1924867033958435},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.17208760976791382},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1414823830127716},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C159047783","wikidata":"https://www.wikidata.org/wiki/Q7215","display_name":"Virology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2004.1308760","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308760","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.144.9929","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.144.9929","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ics.forth.gr/bioloch/docs/Bioloch_ICRA04.pdf","raw_type":"text"},{"id":"pmh:oai:www.iris.sssup.it:11382/374847","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/374847","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1554436968","https://openalex.org/W1573670163","https://openalex.org/W1941067110","https://openalex.org/W1992192651","https://openalex.org/W2101044015","https://openalex.org/W2138447034","https://openalex.org/W2164658433","https://openalex.org/W2189268927","https://openalex.org/W2507314150","https://openalex.org/W2524481567","https://openalex.org/W2540590476","https://openalex.org/W6633236052"],"related_works":["https://openalex.org/W2053915529","https://openalex.org/W3086687521","https://openalex.org/W2378141881","https://openalex.org/W4230748207","https://openalex.org/W3013364101","https://openalex.org/W2025865172","https://openalex.org/W4220767635","https://openalex.org/W4221167770","https://openalex.org/W4253026353","https://openalex.org/W1470195681"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,14,30,128,141],"design":[4],"and":[5,95],"development":[6],"of":[7,17,22,33,39,71,136,143],"a":[8,68,104,113,134],"microrobot":[9],"which":[10,57,108],"aims":[11],"to":[12,63,91,115],"replicate":[13],"locomotion":[15,21],"principle":[16],"earthworms.":[18,145],"The":[19,47,99],"undulatory":[20,65],"living":[23],"earthworms":[24],"has":[25,86],"been":[26,87],"investigated":[27],"deeply":[28],"from":[29],"biological":[31,144],"point":[32],"view,":[34],"but":[35],"attempts":[36],"at":[37],"replication":[38],"earthworm":[40,53,129],"models":[41],"in":[42,89],"real":[43],"size":[44],"are":[45],"limited.":[46],"authors":[48],"have":[49],"designed":[50,88],"an":[51],"artificial":[52],"with":[54,67,133],"four":[55],"modules":[56],"can":[58,109,131],"be":[59,110],"driven":[60],"independently":[61],"according":[62],"defined":[64],"patterns":[66],"typical":[69],"frequency":[70],"0.5":[72],"Hz.":[73],"Each":[74],"module":[75],"is":[76,101],"actuated":[77],"by":[78,103],"one":[79],"or":[80],"more":[81],"SMA":[82],"springs":[83],"whose":[84],"configuration":[85],"order":[90],"limit":[92],"wiring":[93],"problems":[94],"optimize":[96],"working":[97],"frequency.":[98],"robot":[100],"covered":[102],"shaped":[105],"silicone":[106],"material":[107],"used":[111],"as":[112],"platform":[114],"insert":[116],"tiny":[117],"legs":[118],"for":[119],"obtaining":[120],"differential":[121],"friction":[122],"conditions.":[123],"Preliminary":[124],"tests":[125],"demonstrate":[126],"that":[127],"prototypes":[130],"move":[132],"speed":[135],"0.22":[137],"mm/s,":[138],"thus":[139],"approximating":[140],"behavior":[142]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":11},{"year":2016,"cited_by_count":11},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":14}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
