{"id":"https://openalex.org/W2149341969","doi":"https://doi.org/10.1109/robot.2006.1641784","title":"Analysis, design and control of a planar micro-robot driven by two centripetal-force actuators","display_name":"Analysis, design and control of a planar micro-robot driven by two centripetal-force actuators","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2149341969","doi":"https://doi.org/10.1109/robot.2006.1641784","mag":"2149341969"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641784","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":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://doi.org/10.1109/ROBOT.2006.1641784","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017029364","display_name":"Panagiotis Vartholomeos","orcid":"https://orcid.org/0000-0002-0649-8546"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":true,"raw_author_name":"P. Vartholomeos","raw_affiliation_strings":["Department of Mechanical Engineering, National and Technical University of Athens, Athens, Greece"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National and Technical University of Athens, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103025258","display_name":"Evangelos Papadopoulos","orcid":"https://orcid.org/0000-0001-5026-0554"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"E. Papadopoulos","raw_affiliation_strings":["Department of Mechanical Engineering, National and Technical University of Athens, Athens, Greece"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National and Technical University of Athens, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5017029364"],"corresponding_institution_ids":["https://openalex.org/I174458059"],"apc_list":null,"apc_paid":null,"fwci":2.6816,"has_fulltext":false,"cited_by_count":59,"citation_normalized_percentile":{"value":0.90159799,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"649","last_page":"654"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9915000200271606,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9908000230789185,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.677165150642395},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.628199577331543},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6209947466850281},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5953942537307739},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5850187540054321},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5215751528739929},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5130950212478638},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47323310375213623},{"id":"https://openalex.org/keywords/centripetal-force","display_name":"Centripetal force","score":0.4518052637577057},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44933411478996277},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4403519928455353},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4298486113548279},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4089137315750122},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3817918300628662},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24965408444404602},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2008097767829895},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18900686502456665},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14246344566345215}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.677165150642395},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.628199577331543},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6209947466850281},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5953942537307739},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5850187540054321},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5215751528739929},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5130950212478638},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47323310375213623},{"id":"https://openalex.org/C101302269","wikidata":"https://www.wikidata.org/wiki/Q172881","display_name":"Centripetal force","level":2,"score":0.4518052637577057},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44933411478996277},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4403519928455353},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4298486113548279},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4089137315750122},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3817918300628662},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24965408444404602},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2008097767829895},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18900686502456665},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14246344566345215},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2006.1641784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641784","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:10.1.1.78.6219","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.78.6219","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://nereus.mech.ntua.gr/pdf_ps/ICRA206.pdf","raw_type":"text"},{"id":"pmh:oai:dspace.lib.ntua.gr:123456789/31560","is_oa":true,"landing_page_url":"http://doi.org/10.1109/ROBOT.2006.1641784","pdf_url":null,"source":{"id":"https://openalex.org/S4377196837","display_name":"DSpace - NTUA (National Technical University of Athens)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I174458059","host_organization_name":"National Technical University of Athens","host_organization_lineage":["https://openalex.org/I174458059"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings - IEEE International Conference on Robotics and Automation","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:dspace.lib.ntua.gr:123456789/31560","is_oa":true,"landing_page_url":"http://doi.org/10.1109/ROBOT.2006.1641784","pdf_url":null,"source":{"id":"https://openalex.org/S4377196837","display_name":"DSpace - NTUA (National Technical University of Athens)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I174458059","host_organization_name":"National Technical University of Athens","host_organization_lineage":["https://openalex.org/I174458059"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings - IEEE International Conference on Robotics and Automation","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1517309132","https://openalex.org/W2038228462","https://openalex.org/W2105550413","https://openalex.org/W2122975002","https://openalex.org/W2135086169","https://openalex.org/W2144908914","https://openalex.org/W2150972802","https://openalex.org/W2156357190","https://openalex.org/W2160539467","https://openalex.org/W2163042598","https://openalex.org/W2323447981","https://openalex.org/W2965952461","https://openalex.org/W4205362845","https://openalex.org/W6659911166","https://openalex.org/W6675759387"],"related_works":["https://openalex.org/W2291700020","https://openalex.org/W2086863125","https://openalex.org/W3096187747","https://openalex.org/W1532677580","https://openalex.org/W1527727992","https://openalex.org/W2001900524","https://openalex.org/W2216521820","https://openalex.org/W2917916498","https://openalex.org/W1522691079","https://openalex.org/W4362682344"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,34,59,105,116],"motion":[4,56],"analysis,":[5],"design":[6,32],"and":[7,43,52,68,91,121],"position":[8,83,94],"control":[9,74,84,99],"of":[10,33,58,107,115],"a":[11,92,108],"novel,":[12],"low":[13],"cost,":[14],"sliding":[15],"micro-robot,":[16,60],"which":[17],"is":[18,36,65,96,102,122],"actuated":[19],"by":[20,24],"centripetal":[21],"forces":[22],"generated":[23],"robot":[25,53],"mounted":[26],"vibration":[27],"micro-motors.":[28],"A":[29,73,113],"new,":[30],"two-micromotor":[31],"platform":[35,93],"presented,":[37],"that":[38,85],"improves":[39],"system":[40,100],"energy":[41],"efficiency,":[42],"further":[44],"does":[45],"not":[46],"necessitate":[47],"for":[48,61,76],"synchronous":[49],"actuator":[50],"operation":[51],"symmetry.":[54],"The":[55,98],"behavior":[57],"asynchronous":[62],"actuation":[63],"operation,":[64],"expressed":[66],"analytically":[67],"simulation":[69,106],"results":[70],"are":[71],"presented.":[72],"strategy":[75],"microrobot":[77],"x,thetas":[78],"<sub":[79],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[80],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">z</sub>":[81],",":[82],"employs":[86],"two":[87],"motor":[88],"speed":[89],"controllers,":[90],"controller":[95],"designed.":[97],"performance":[101],"evaluated":[103],"through":[104],"successful":[109],"trajectory":[110],"tracking":[111],"task.":[112],"prototype":[114],"micro-robot":[117],"has":[118],"been":[119],"constructed":[120],"presented":[123]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
