{"id":"https://openalex.org/W2147132328","doi":"https://doi.org/10.1109/robot.2008.4543243","title":"An untethered magnetically actuated micro-robot capable of motion on arbitrary surfaces","display_name":"An untethered magnetically actuated micro-robot capable of motion on arbitrary surfaces","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2147132328","doi":"https://doi.org/10.1109/robot.2008.4543243","mag":"2147132328"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543243","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543243","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","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/A5081327846","display_name":"Steven Floyd","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Steven Floyd","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","Dept. of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111979747","display_name":"Chytra Pawashe","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chytra Pawashe","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh. PA 15213, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh. PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079968392","display_name":"Metin Sitti","orcid":"https://orcid.org/0000-0001-8249-3854"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Metin Sitti","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh. PA 15213, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh. PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5081327846"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":5.4447,"has_fulltext":false,"cited_by_count":87,"citation_normalized_percentile":{"value":0.96237223,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"419","last_page":"424"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"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":1.0,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9993000030517578,"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":0.9958000183105469,"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/robot","display_name":"Robot","score":0.7065132856369019},{"id":"https://openalex.org/keywords/electromagnet","display_name":"Electromagnet","score":0.5062602758407593},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.47729504108428955},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.4228723347187042},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4192520081996918},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41545459628105164},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4119185209274292},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.4088376760482788},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39159929752349854},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.37158793210983276},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.3338889479637146},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2982174754142761},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2968871593475342}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7065132856369019},{"id":"https://openalex.org/C106997767","wikidata":"https://www.wikidata.org/wiki/Q178032","display_name":"Electromagnet","level":3,"score":0.5062602758407593},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.47729504108428955},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.4228723347187042},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4192520081996918},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41545459628105164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4119185209274292},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.4088376760482788},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39159929752349854},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.37158793210983276},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.3338889479637146},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2982174754142761},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2968871593475342},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2008.4543243","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543243","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","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":12,"referenced_works":["https://openalex.org/W1500697756","https://openalex.org/W1982549141","https://openalex.org/W1986524396","https://openalex.org/W1996307949","https://openalex.org/W2006237048","https://openalex.org/W2025562104","https://openalex.org/W2044908411","https://openalex.org/W2047706052","https://openalex.org/W2085267376","https://openalex.org/W2116813238","https://openalex.org/W2121655601","https://openalex.org/W2150972802"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2048862765","https://openalex.org/W2160982102","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2793255344","https://openalex.org/W2160932924","https://openalex.org/W2082997813","https://openalex.org/W2052805705","https://openalex.org/W1519841600"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"an":[3],"untethered":[4],"magnetic":[5],"micro-":[6],"robot":[7,27,59],"with":[8],"dimensions":[9,105],"of":[10,31,43,77,90,111,125],"250":[11],"<i":[12,17,22],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[13,18,23],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">mum</i>":[14,19,24],"x":[15,20],"130":[16],"100":[21],".":[25],"The":[26],"is":[28,38,99,106,113],"composed":[29],"entirely":[30],"neodymium-iron-boron":[32],"fabricated":[33],"using":[34,48],"laser":[35],"micro-machining.":[36],"It":[37],"actuated":[39],"by":[40],"a":[41],"system":[42],"five":[44],"macro-scale":[45],"electromagnets.":[46],"By":[47],"electromagnets":[49],"to":[50],"control":[51,70],"the":[52,54,58,78,109],"robot,":[53,79],"surface":[55],"on":[56,74],"which":[57],"operates":[60],"need":[61],"not":[62],"be":[63],"specialized,":[64],"smooth,":[65],"patterned,":[66],"nor":[67],"conductive.":[68],"Two":[69],"methods,":[71],"both":[72],"based":[73],"periodic":[75],"excitation":[76],"are":[80],"attempted":[81],"and":[82,108,123],"compared.":[83],"Controllable":[84],"motion":[85,102],"at":[86],"speeds":[87],"in":[88,103],"excess":[89],"2.8":[91],"mm/s,":[92],"approximately":[93],"11":[94],"body":[95],"lengths":[96],"per":[97],"second,":[98],"demonstrated.":[100],"Teleoperated":[101],"two":[104],"shown,":[107],"assembly":[110,124],"micro-particles":[112],"demonstrated":[114],"underwater.":[115],"Potential":[116],"future":[117],"applications":[118],"include":[119],"micro-scale":[120],"manipulation,":[121],"fabrication,":[122],"micro-systems.":[126]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}