{"id":"https://openalex.org/W4413747375","doi":"https://doi.org/10.1109/tase.2025.3602855","title":"A Differential Friction Driving Piezoelectric Stepping Robot for 3-DOF Planar Micromanipulation","display_name":"A Differential Friction Driving Piezoelectric Stepping Robot for 3-DOF Planar Micromanipulation","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4413747375","doi":"https://doi.org/10.1109/tase.2025.3602855"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3602855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3602855","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5070128935","display_name":"Chutian Dai","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chutian Dai","raw_affiliation_strings":["Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, 5988 Renmin Street, Changchun, China"],"raw_orcid":"https://orcid.org/0009-0000-3289-0069","affiliations":[{"raw_affiliation_string":"Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, 5988 Renmin Street, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101466473","display_name":"Shupeng Wang","orcid":"https://orcid.org/0000-0002-9283-3397"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shupeng Wang","raw_affiliation_strings":["Key Laboratory of Bionic Engineering (Ministry of Education) and the National Key Laboratory of Automotive Chassis Integration and Bionics, Jilin University, Changchun, China","Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, 5988 Renmin Street, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0002-9283-3397","affiliations":[{"raw_affiliation_string":"Key Laboratory of Bionic Engineering (Ministry of Education) and the National Key Laboratory of Automotive Chassis Integration and Bionics, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, 5988 Renmin Street, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001826407","display_name":"Xinbao Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinbao Wang","raw_affiliation_strings":["Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, 5988 Renmin Street, Changchun, China"],"raw_orcid":"https://orcid.org/0009-0002-5748-8636","affiliations":[{"raw_affiliation_string":"Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, 5988 Renmin Street, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102290289","display_name":"Wencheng Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wencheng Wu","raw_affiliation_strings":["Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, 5988 Renmin Street, Changchun, China"],"raw_orcid":"https://orcid.org/0009-0003-9330-6470","affiliations":[{"raw_affiliation_string":"Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]},{"raw_affiliation_string":"Key Laboratory of Bionic Engineering (Ministry of Education), Jilin University, 5988 Renmin Street, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I194450716"],"apc_list":null,"apc_paid":null,"fwci":1.2668,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.7955548,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"20448","last_page":"20457"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9986000061035156,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9986000061035156,"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/T12224","display_name":"Nanofabrication and Lithography Techniques","score":0.9983999729156494,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/planar","display_name":"Planar","score":0.6689850091934204},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6544499397277832},{"id":"https://openalex.org/keywords/piezoelectricity","display_name":"Piezoelectricity","score":0.5423105955123901},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5333893895149231},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.5315506458282471},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3560652434825897},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34657132625579834},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3399900197982788},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3375316262245178},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21790143847465515},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21613043546676636},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.20193660259246826},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14402815699577332},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.08175182342529297}],"concepts":[{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6689850091934204},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6544499397277832},{"id":"https://openalex.org/C100082104","wikidata":"https://www.wikidata.org/wiki/Q183759","display_name":"Piezoelectricity","level":2,"score":0.5423105955123901},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5333893895149231},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.5315506458282471},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3560652434825897},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34657132625579834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3399900197982788},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3375316262245178},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21790143847465515},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21613043546676636},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.20193660259246826},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14402815699577332},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.08175182342529297}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3602855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3602855","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G6171223390","display_name":null,"funder_award_id":"52305302","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2015368285","https://openalex.org/W2052084799","https://openalex.org/W2068326022","https://openalex.org/W2093886532","https://openalex.org/W2109521135","https://openalex.org/W2166271005","https://openalex.org/W2529021032","https://openalex.org/W2594355207","https://openalex.org/W2782570570","https://openalex.org/W2966665557","https://openalex.org/W2995271379","https://openalex.org/W3011511984","https://openalex.org/W3043982061","https://openalex.org/W3111290348","https://openalex.org/W3135787648","https://openalex.org/W3153783884","https://openalex.org/W3189562855","https://openalex.org/W3209936794","https://openalex.org/W4214661538","https://openalex.org/W4293102230","https://openalex.org/W4315621399","https://openalex.org/W4321349853","https://openalex.org/W4322604158","https://openalex.org/W4323568003","https://openalex.org/W4387965408","https://openalex.org/W4389295299","https://openalex.org/W4390776933","https://openalex.org/W4394843432","https://openalex.org/W4395678433","https://openalex.org/W4399167815","https://openalex.org/W4402568737","https://openalex.org/W4404663584","https://openalex.org/W4407775296","https://openalex.org/W4409727815"],"related_works":["https://openalex.org/W120386264","https://openalex.org/W2369514825","https://openalex.org/W4309764133","https://openalex.org/W2031123327","https://openalex.org/W4389328717","https://openalex.org/W2132160072","https://openalex.org/W2761298569","https://openalex.org/W597924346","https://openalex.org/W371177308","https://openalex.org/W2790871915"],"abstract_inverted_index":{"Miniature":[0],"piezoelectric":[1,49,62],"robots":[2],"exhibit":[3],"significant":[4],"potential":[5,176],"in":[6,20],"high-precision":[7,73],"actuation":[8,74],"applications;":[9],"however,":[10],"their":[11,17],"inherent":[12],"structural":[13,39,77],"complexity":[14],"often":[15],"limits":[16],"widespread":[18],"adoption":[19],"the":[21,67,99,151],"miniature":[22,32],"robotics":[23],"field.":[24],"To":[25],"address":[26],"this":[27,45],"limitation":[28],"and":[29,41,87,93,117,132,170,180],"develop":[30],"a":[31,48,54,111,118,126,133,158,182],"robot":[33,51,64,100,140,152],"characterized":[34],"by":[35],"high":[36],"precision,":[37],"3-DOF,":[38],"simplicity,":[40],"low":[42],"driving":[43,81,172],"requirements,":[44],"paper":[46],"proposes":[47],"stepping":[50,63],"based":[52],"on":[53],"novel":[55],"differential":[56,60,69],"friction":[57,61,68],"principle.":[58],"This":[59],"effectively":[65],"leverages":[66],"principle":[70],"to":[71],"achieve":[72],"while":[75],"maintaining":[76],"simplicity.":[78],"Its":[79,164],"3-leg":[80],"configuration":[82],"provides":[83],"excellent":[84,144],"motion":[85,91],"stability":[86],"enables":[88],"3-DOF":[89],"planar":[90],"(translational":[92],"rotational).":[94],"Experimental":[95],"results":[96],"demonstrate":[97],"that":[98],"(dimensions:":[101],"44.5":[102],"mm":[103,106],"\u00d7":[104,107],"50.3":[105],"16":[108],"mm)":[109],"achieved":[110],"translational":[112],"resolution":[113,128],"of":[114,121,129,136,148,157],"6.97":[115],"nm":[116],"maximum":[119,134,145],"speed":[120,135],"339.35":[122],"\u03bcm/s,":[123],"along":[124],"with":[125],"rotational":[127],"2.82":[130],"\u03bcrad":[131],"4.31":[137],"mrad/s.":[138],"The":[139],"also":[141],"demonstrated":[142],"an":[143],"payload-to-weight":[146],"ratio":[147],"64.52.":[149],"Furthermore,":[150],"successfully":[153],"performed":[154],"precision":[155],"alignment":[156],"200":[159],"\u03bcm":[160],"diameter":[161],"optical":[162],"fiber.":[163],"advantages":[165],"such":[166],"as":[167],"simple":[168],"structure":[169],"few":[171],"units":[173],"enhance":[174],"its":[175],"for":[177,185],"practical":[178],"applications":[179],"provide":[181],"promising":[183],"approach":[184],"developing":[186],"high-performance":[187],"micro-robotic":[188],"systems.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
