{"id":"https://openalex.org/W2152397416","doi":"https://doi.org/10.1109/robot.2006.1641727","title":"Towards a 3g crawling robot through the integration of microrobot technologies","display_name":"Towards a 3g crawling robot through the integration of microrobot technologies","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2152397416","doi":"https://doi.org/10.1109/robot.2006.1641727","mag":"2152397416"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641727","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641727","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5057760999","display_name":"Ranjana Sahai","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Sahai","raw_affiliation_strings":["Electrical Engineering and Computer Science Department, University of California Berkeley, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Science Department, University of California Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010023984","display_name":"S. Avadhanula","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Avadhanula","raw_affiliation_strings":["Electrical Engineering and Computer Science Department, University of California Berkeley, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Science Department, University of California Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046707769","display_name":"Richard E. Groff","orcid":"https://orcid.org/0000-0001-6994-821X"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Groff","raw_affiliation_strings":["Electrical Engineering and Computer Science Department, University of California Berkeley, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Science Department, University of California Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067310516","display_name":"E. Steltz","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. Steltz","raw_affiliation_strings":["Electrical Engineering and Computer Science Department, University of California Berkeley, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Science Department, University of California Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109219334","display_name":"R. J. Wood","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Wood","raw_affiliation_strings":["Electrical Engineering and Computer Science Department, University of California Berkeley, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Science Department, University of California Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073886799","display_name":"Ronald S. Fearing","orcid":"https://orcid.org/0000-0001-6242-5379"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R.S. Fearing","raw_affiliation_strings":["Electrical Engineering and Computer Science Department, University of California Berkeley, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Science Department, University of California Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":61,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"296","last_page":"302"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991999864578247,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9979000091552734,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9972000122070312,"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/hexapod","display_name":"Hexapod","score":0.8384654521942139},{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.7894729971885681},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6558218002319336},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6171365976333618},{"id":"https://openalex.org/keywords/slider","display_name":"Slider","score":0.5695548057556152},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5605705380439758},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48490673303604126},{"id":"https://openalex.org/keywords/tripod","display_name":"Tripod (photography)","score":0.46164411306381226},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4243719279766083},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3947007358074188},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.38123464584350586},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3720739781856537},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14558416604995728}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.8384654521942139},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.7894729971885681},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6558218002319336},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6171365976333618},{"id":"https://openalex.org/C2776585123","wikidata":"https://www.wikidata.org/wiki/Q424666","display_name":"Slider","level":2,"score":0.5695548057556152},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5605705380439758},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48490673303604126},{"id":"https://openalex.org/C130614165","wikidata":"https://www.wikidata.org/wiki/Q683906","display_name":"Tripod (photography)","level":2,"score":0.46164411306381226},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4243719279766083},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3947007358074188},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.38123464584350586},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3720739781856537},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14558416604995728},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","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":2,"locations":[{"id":"doi:10.1109/robot.2006.1641727","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641727","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.370.1888","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.370.1888","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://micro.seas.harvard.edu/papers/ICRA06_Sahai.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1489731227","https://openalex.org/W1557969103","https://openalex.org/W1565480868","https://openalex.org/W1589503602","https://openalex.org/W1676421722","https://openalex.org/W1822001265","https://openalex.org/W1995404460","https://openalex.org/W2092690781","https://openalex.org/W2093853004","https://openalex.org/W2096063654","https://openalex.org/W2099660316","https://openalex.org/W2101044015","https://openalex.org/W2106470401","https://openalex.org/W2122349035","https://openalex.org/W2124064924","https://openalex.org/W2157778107","https://openalex.org/W2160539467","https://openalex.org/W2164040945","https://openalex.org/W3003490007","https://openalex.org/W4214746323","https://openalex.org/W6629214680","https://openalex.org/W6633903115","https://openalex.org/W6674618184","https://openalex.org/W6678567748"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W613729187","https://openalex.org/W3162692031","https://openalex.org/W2592391887","https://openalex.org/W2353757960","https://openalex.org/W2371036675","https://openalex.org/W2565974306","https://openalex.org/W1995677619","https://openalex.org/W2049269961","https://openalex.org/W2067952231"],"abstract_inverted_index":{"This":[0,73],"paper":[1],"discusses":[2],"the":[3,16,55,61,76,82,112,125,140,156],"biomimetic":[4],"design":[5,97,147],"and":[6,57,98,101,111,132],"assembly":[7],"of":[8,19,47,53,60,67,114,139],"a":[9,107,151],"3g":[10],"self-contained":[11],"crawling":[12],"robot":[13,128],"fabricated":[14,136],"through":[15],"integrated":[17,123],"use":[18],"various":[20,87],"microrobot":[21,89],"technologies.":[22],"The":[23,127],"hexapod":[24],"structure":[25],"is":[26,129],"designed":[27],"to":[28,44,80,149],"move":[29],"in":[30,71,155],"an":[31],"alternating":[32],"tripod":[33],"gait":[34],"driven":[35],"by":[36,41],"two":[37,45],"piezoelectric":[38],"actuators":[39],"connected":[40],"sliding":[42],"plates":[43],"sets":[46],"three":[48,68,137],"legs.":[49],"We":[50,84,143],"present":[51],"results":[52],"both":[54],"kinematic":[56],"static":[58],"analyses":[59],"driving":[62],"mechanism":[63],"that":[64,91],"essentially":[65],"consists":[66],"slider":[69],"cranks":[70],"series.":[72],"analysis":[74],"confirmed":[75],"force":[77],"differential":[78],"needed":[79],"propel":[81],"device.":[83,126,142],"then":[85,121],"review":[86],"other":[88],"technologies":[90,119],"have":[92,134],"been":[93],"developed":[94],"including":[95],"actuator":[96],"fabrication,":[99],"power":[100],"control":[102],"electronics":[103],"design,":[104],"programming":[105],"via":[106],"finite":[108],"state":[109],"machine,":[110],"development":[113],"bioinspired":[115],"fiber":[116],"arrays.":[117],"These":[118],"were":[120],"successfully":[122],"into":[124],"now":[130],"functioning":[131],"we":[133],"already":[135],"iterations":[138,148],"proposed":[141],"hope":[144],"with":[145],"further":[146],"produce":[150],"fully":[152],"operational":[153],"model":[154],"near":[157],"future":[158]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}