{"id":"https://openalex.org/W3181382745","doi":"https://doi.org/10.1109/tro.2021.3088053","title":"A 5-mm Untethered Crawling Robot via Self-Excited Electrostatic Vibration","display_name":"A 5-mm Untethered Crawling Robot via Self-Excited Electrostatic Vibration","publication_year":2021,"publication_date":"2021-07-02","ids":{"openalex":"https://openalex.org/W3181382745","doi":"https://doi.org/10.1109/tro.2021.3088053","mag":"3181382745"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3088053","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3088053","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/A5103025592","display_name":"Yangsheng Zhu","orcid":"https://orcid.org/0000-0003-0231-7944"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yangsheng Zhu","raw_affiliation_strings":["School of Energy and Power Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Energy and Power Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053308187","display_name":"Mingjing Qi","orcid":"https://orcid.org/0000-0002-1423-4663"},"institutions":[{"id":"https://openalex.org/I4210156095","display_name":"Aero Engine Corporation of China (China)","ror":"https://ror.org/04pe7qe08","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210156095"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingjing Qi","raw_affiliation_strings":["School of Energy and Power Engineering, Beihang University, Beijing, China","National Key Laboratory of Science and Technology on Aero-Engine Aero-Thermodynamics, Beihang University, Beijing, China","Beijing Key Laboratory of Aero-Engine Structure and Strength, Beijing, China","Collaborative Innovation Center of Advanced Aero-Engine, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Energy and Power Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Aero-Engine Aero-Thermodynamics, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Beijing Key Laboratory of Aero-Engine Structure and Strength, Beijing, China","institution_ids":["https://openalex.org/I4210156095"]},{"raw_affiliation_string":"Collaborative Innovation Center of Advanced Aero-Engine, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004924286","display_name":"Zhiwei Liu","orcid":"https://orcid.org/0000-0002-1018-0522"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwei Liu","raw_affiliation_strings":["School of Energy and Power Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Energy and Power Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014993071","display_name":"Jianmei Huang","orcid":"https://orcid.org/0000-0002-5054-1011"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianmei Huang","raw_affiliation_strings":["School of Energy and Power Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Energy and Power Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101664372","display_name":"Dawei Huang","orcid":"https://orcid.org/0000-0003-2852-233X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dawei Huang","raw_affiliation_strings":["School of Energy and Power Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Energy and Power Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100662039","display_name":"Xiaojun Yan","orcid":"https://orcid.org/0000-0002-6151-7279"},"institutions":[{"id":"https://openalex.org/I4210156095","display_name":"Aero Engine Corporation of China (China)","ror":"https://ror.org/04pe7qe08","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210156095"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaojun Yan","raw_affiliation_strings":["School of Energy and Power Engineering, Beihang University, Beijing, China","National Key Laboratory of Science and Technology on Aero-Engine Aero-Thermodynamics, Beihang University, Beijing, China","Beijing Key Laboratory of Aero-Engine Structure and Strength, Beijing, China","Collaborative Innovation Center of Advanced Aero-Engine, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Energy and Power Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Aero-Engine Aero-Thermodynamics, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Beijing Key Laboratory of Aero-Engine Structure and Strength, Beijing, China","institution_ids":["https://openalex.org/I4210156095"]},{"raw_affiliation_string":"Collaborative Innovation Center of Advanced Aero-Engine, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100383258","display_name":"Liwei Lin","orcid":"https://orcid.org/0000-0001-7083-624X"},"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":"Liwei Lin","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5103025592"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":4.5063,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.95256652,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"38","issue":"2","first_page":"719","last_page":"730"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9998000264167786,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9973999857902527,"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/crawling","display_name":"Crawling","score":0.794053316116333},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7316025495529175},{"id":"https://openalex.org/keywords/capacitor","display_name":"Capacitor","score":0.6058937907218933},{"id":"https://openalex.org/keywords/miniaturization","display_name":"Miniaturization","score":0.5311822891235352},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5122312903404236},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.505467414855957},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.5033969283103943},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.49510064721107483},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.35118111968040466},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3470630347728729},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.33520612120628357},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3058123290538788},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.19013312458992004},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1366928517818451}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.794053316116333},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7316025495529175},{"id":"https://openalex.org/C52192207","wikidata":"https://www.wikidata.org/wiki/Q5322","display_name":"Capacitor","level":3,"score":0.6058937907218933},{"id":"https://openalex.org/C57528182","wikidata":"https://www.wikidata.org/wiki/Q1271842","display_name":"Miniaturization","level":2,"score":0.5311822891235352},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5122312903404236},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.505467414855957},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.5033969283103943},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.49510064721107483},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.35118111968040466},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3470630347728729},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.33520612120628357},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3058123290538788},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.19013312458992004},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1366928517818451},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2021.3088053","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3088053","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":[{"score":0.8600000143051147,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G2008292609","display_name":null,"funder_award_id":"11602010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G324036179","display_name":null,"funder_award_id":"12002017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6163367517","display_name":null,"funder_award_id":"B08009","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G7856570743","display_name":null,"funder_award_id":"2019M650441","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320327912","display_name":"Higher Education Discipline Innovation Project","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W1489731227","https://openalex.org/W1803936640","https://openalex.org/W1822001265","https://openalex.org/W1981852923","https://openalex.org/W1982636603","https://openalex.org/W1984563958","https://openalex.org/W1991259831","https://openalex.org/W1991593444","https://openalex.org/W2009430409","https://openalex.org/W2024084391","https://openalex.org/W2039295925","https://openalex.org/W2039301348","https://openalex.org/W2040335183","https://openalex.org/W2041258471","https://openalex.org/W2047706052","https://openalex.org/W2049289698","https://openalex.org/W2052319034","https://openalex.org/W2077077220","https://openalex.org/W2079925463","https://openalex.org/W2083751598","https://openalex.org/W2085614058","https://openalex.org/W2096488466","https://openalex.org/W2098179188","https://openalex.org/W2098998403","https://openalex.org/W2134728563","https://openalex.org/W2136863984","https://openalex.org/W2140710816","https://openalex.org/W2152397416","https://openalex.org/W2162327504","https://openalex.org/W2164925070","https://openalex.org/W2170441737","https://openalex.org/W2175051255","https://openalex.org/W2240072901","https://openalex.org/W2282461819","https://openalex.org/W2290045745","https://openalex.org/W2332670029","https://openalex.org/W2593782911","https://openalex.org/W2593946188","https://openalex.org/W2614908003","https://openalex.org/W2739080117","https://openalex.org/W2773787124","https://openalex.org/W2781094305","https://openalex.org/W2782570570","https://openalex.org/W2783801856","https://openalex.org/W2888377794","https://openalex.org/W2895708515","https://openalex.org/W2907959731","https://openalex.org/W2914242411","https://openalex.org/W2955102412","https://openalex.org/W2958695767","https://openalex.org/W2966665557","https://openalex.org/W3034468483","https://openalex.org/W3042707502","https://openalex.org/W3059621087","https://openalex.org/W3120770299","https://openalex.org/W4233561989","https://openalex.org/W4233865444","https://openalex.org/W6605696818","https://openalex.org/W6646306557","https://openalex.org/W6685296556"],"related_works":["https://openalex.org/W4393220254","https://openalex.org/W4321258516","https://openalex.org/W2051833850","https://openalex.org/W4287845917","https://openalex.org/W3156164993","https://openalex.org/W2385015894","https://openalex.org/W2348807422","https://openalex.org/W2361025757","https://openalex.org/W2171573941","https://openalex.org/W4360873893"],"abstract_inverted_index":{"The":[0,104],"grand":[1],"challenge":[2],"toward":[3],"the":[4,10,21,30,69,119,126,129],"miniaturization":[5],"of":[6,12,29,98,106,131],"untethered":[7,27,49],"robots":[8],"is":[9],"lack":[11],"a":[13,54],"proper":[14],"actuation":[15],"system":[16],"that":[17],"can":[18,72],"effectively":[19],"transform":[20],"limited":[22],"onboard":[23,57,78],"energy":[24],"into":[25],"an":[26,39,77,94],"movement":[28],"whole":[31],"body.":[32],"Here,":[33],"in":[34,46,128],"this":[35],"article,":[36],"we":[37],"present":[38],"insect":[40],"scale,":[41],"5-mm-long,":[42],"and":[43,87,113],"9.4":[44],"mg":[45,56],"body":[47],"mass":[48],"crawling":[50],"robot":[51],"powered":[52,75],"by":[53,64,76],"37":[55],"ceramic":[58],"capacitor.":[59],"With":[60],"high":[61],"electromechanical":[62],"efficiency":[63],"utilizing":[65],"self-excited":[66],"electrostatic":[67],"vibration,":[68],"prototype":[70],"device":[71],"be":[73],"directly":[74],"capacitor":[79],"without":[80],"any":[81],"boost":[82],"or":[83],"frequency":[84],"conversion":[85],"circuitry,":[86],"forward":[88],"movements":[89],"have":[90,122],"been":[91,123],"achieved":[92],"at":[93],"average":[95],"moving":[96,115],"speed":[97],"5.9":[99],"mm/s":[100],"for":[101,125],"1.68":[102],"s.":[103],"maneuverability":[105],"locomotion":[107],"from":[108],"solid":[109],"ground":[110],"to":[111],"water":[112],"different":[114],"directional":[116],"controls":[117],"via":[118],"leg":[120],"designs":[121],"demonstrated":[124],"advancements":[127],"field":[130],"millimeter-scale":[132],"robotics":[133],"research.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
