{"id":"https://openalex.org/W2107180104","doi":"https://doi.org/10.1109/tro.2009.2034831","title":"Autonomous Robotic Pick-and-Place of Microobjects","display_name":"Autonomous Robotic Pick-and-Place of Microobjects","publication_year":2009,"publication_date":"2009-12-02","ids":{"openalex":"https://openalex.org/W2107180104","doi":"https://doi.org/10.1109/tro.2009.2034831","mag":"2107180104"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2009.2034831","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2034831","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5076037753","display_name":"Yong Zhang","orcid":"https://orcid.org/0000-0003-4385-712X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Yong Zhang","raw_affiliation_strings":["Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, ONT, Canada","Adv. Micro & Nanosystems Lab., Univ. of Toronto, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, ONT, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Adv. Micro & Nanosystems Lab., Univ. of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045604567","display_name":"B.K. Chen","orcid":"https://orcid.org/0009-0007-8445-9757"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"B.K. Chen","raw_affiliation_strings":["Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, ONT, Canada","Adv. Micro & Nanosystems Lab., Univ. of Toronto, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, ONT, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Adv. Micro & Nanosystems Lab., Univ. of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064143503","display_name":"Xinyu Liu","orcid":"https://orcid.org/0000-0002-6855-4734"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Xinyu Liu","raw_affiliation_strings":["Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, ONT, Canada","Adv. Micro & Nanosystems Lab., Univ. of Toronto, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, ONT, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Adv. Micro & Nanosystems Lab., Univ. of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077878309","display_name":"Yu Sun","orcid":"https://orcid.org/0000-0001-7895-0741"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yu Sun","raw_affiliation_strings":["Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, ONT, Canada","Adv. Micro & Nanosystems Lab., Univ. of Toronto, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, ONT, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Adv. Micro & Nanosystems Lab., Univ. of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5076037753"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":5.4867,"has_fulltext":false,"cited_by_count":188,"citation_normalized_percentile":{"value":0.96007768,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"26","issue":"1","first_page":"200","last_page":"207"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.9973999857902527,"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":0.9973999857902527,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9973000288009644,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.996399998664856,"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/microscale-chemistry","display_name":"Microscale chemistry","score":0.7997488975524902},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.6899314522743225},{"id":"https://openalex.org/keywords/microelectromechanical-systems","display_name":"Microelectromechanical systems","score":0.6097519993782043},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5351330637931824},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4641237258911133},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.45428207516670227},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.43515267968177795},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.40554600954055786},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39960092306137085},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34844958782196045},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32424649596214294},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.32282549142837524}],"concepts":[{"id":"https://openalex.org/C179428855","wikidata":"https://www.wikidata.org/wiki/Q1069216","display_name":"Microscale chemistry","level":2,"score":0.7997488975524902},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.6899314522743225},{"id":"https://openalex.org/C37977207","wikidata":"https://www.wikidata.org/wiki/Q175561","display_name":"Microelectromechanical systems","level":2,"score":0.6097519993782043},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5351330637931824},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4641237258911133},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.45428207516670227},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.43515267968177795},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.40554600954055786},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39960092306137085},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34844958782196045},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32424649596214294},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.32282549142837524},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C145420912","wikidata":"https://www.wikidata.org/wiki/Q853077","display_name":"Mathematics education","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2009.2034831","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2034831","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1805491614","https://openalex.org/W1829053762","https://openalex.org/W1919629724","https://openalex.org/W1973234584","https://openalex.org/W1973348029","https://openalex.org/W1985015740","https://openalex.org/W1987827859","https://openalex.org/W1991727197","https://openalex.org/W2013069938","https://openalex.org/W2014757615","https://openalex.org/W2027944602","https://openalex.org/W2032621741","https://openalex.org/W2032645743","https://openalex.org/W2044921879","https://openalex.org/W2052389602","https://openalex.org/W2065264430","https://openalex.org/W2079448671","https://openalex.org/W2083768625","https://openalex.org/W2083896620","https://openalex.org/W2098893382","https://openalex.org/W2104189902","https://openalex.org/W2106767637","https://openalex.org/W2113040397","https://openalex.org/W2116486710","https://openalex.org/W2117185158","https://openalex.org/W2124614417","https://openalex.org/W2133971847","https://openalex.org/W2135552908","https://openalex.org/W2145605024","https://openalex.org/W2156501557","https://openalex.org/W2160317468","https://openalex.org/W2161176408","https://openalex.org/W2162885200","https://openalex.org/W2168085787","https://openalex.org/W3015854621","https://openalex.org/W4206363473","https://openalex.org/W4206706389","https://openalex.org/W6675851335"],"related_works":["https://openalex.org/W1640559846","https://openalex.org/W3148362106","https://openalex.org/W4313405215","https://openalex.org/W2889998688","https://openalex.org/W3004847491","https://openalex.org/W2157923049","https://openalex.org/W2950296132","https://openalex.org/W2150737097","https://openalex.org/W2163119745","https://openalex.org/W2898702413"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,38,45,57,64,70,109,122,169],"robotic":[4,49],"system":[5,55],"that":[6,72,101,185],"is":[7,116,175],"capable":[8],"of":[9,36,51,88,125,148,166,171,178],"both":[10],"picking":[11],"up":[12],"and":[13,20,121,141,154],"releasing":[14],"microobjects":[15,37],"with":[16,63,151],"high":[17],"accuracy,":[18],"reliability,":[19],"speed.":[21],"Due":[22],"to":[23,68,76],"force-scaling":[24],"laws,":[25],"large":[26],"adhesion":[27,78],"forces":[28],"at":[29],"the":[30,86,102,105,139,146,149,152,182,190],"microscale":[31],"make":[32],"rapid,":[33],"accurate":[34],"release":[35,114,123],"long-standing":[39],"challenge":[40],"in":[41,94,113,189],"micromanipulation,":[42],"thus":[43],"representing":[44],"hurdle":[46],"toward":[47],"automated":[48,131,163],"pick-and-place":[50,133,165],"micrometer-sized":[52],"objects.":[53],"The":[54,80],"employs":[56],"novel":[58],"microelectromechanical":[59],"systems":[60],"(MEMS)":[61],"microgripper":[62,140,150],"controllable":[65],"plunging":[66],"structure":[67],"impact":[69],"microobject":[71],"gains":[73],"sufficient":[74],"momentum":[75],"overcome":[77],"forces.":[79],"performance":[81],"was":[82,134],"experimentally":[83],"quantified":[84],"through":[85,162],"manipulation":[87],"7.5-10.9":[89],"\u00bfm":[90],"borosilicate":[91],"glass":[92],"spheres":[93],"an":[95,176],"ambient":[96],"environment.":[97],"Experimental":[98],"results":[99],"demonstrate":[100],"system,":[103],"for":[104],"first":[106],"time,":[107],"achieves":[108],"100%":[110],"success":[111],"rate":[112],"(which":[115],"based":[117],"on":[118],"700":[119],"trials)":[120],"accuracy":[124],"0.45":[126],"\u00b1":[127],"0.24":[128],"\u00bfm.":[129],"High-speed,":[130],"microrobotic":[132,164],"realized":[135],"by":[136,143,155],"visually":[137,144],"recognizing":[138],"microspheres,":[142,167],"detecting":[145],"contact":[147],"substrate,":[153],"vision-based":[156],"control.":[157],"Example":[158],"patterns":[159],"were":[160],"constructed":[161],"achieving":[168],"speed":[170,184],"6":[172],"s/sphere,":[173],"which":[174],"order":[177],"magnitude":[179],"faster":[180],"than":[181],"highest":[183],"has":[186],"been":[187],"reported":[188],"literature.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":15},{"year":2017,"cited_by_count":20},{"year":2016,"cited_by_count":15},{"year":2015,"cited_by_count":13},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":14},{"year":2012,"cited_by_count":6}],"updated_date":"2026-04-12T07:58:50.170612","created_date":"2025-10-10T00:00:00"}