{"id":"https://openalex.org/W1977664618","doi":"https://doi.org/10.1109/urai.2011.6145989","title":"Biologically inspired robots using Smart Composite Microstructures","display_name":"Biologically inspired robots using Smart Composite Microstructures","publication_year":2011,"publication_date":"2011-11-01","ids":{"openalex":"https://openalex.org/W1977664618","doi":"https://doi.org/10.1109/urai.2011.6145989","mag":"1977664618"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2011.6145989","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2011.6145989","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","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/A5044402664","display_name":"Je\u2010Sung Koh","orcid":"https://orcid.org/0000-0002-7739-0882"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Je-sung Koh","raw_affiliation_strings":["Department of Mechanical and AeroSpace Eng, Seoul National University, Seoul, South Korea","Department of Mechanical & Aerospace Engineering, Seoul National University, 151-744, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Eng, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Mechanical & Aerospace Engineering, Seoul National University, 151-744, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077343494","display_name":"Seung-Won Kim","orcid":"https://orcid.org/0000-0003-3190-9172"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seung-won Kim","raw_affiliation_strings":["Department of Mechanical and AeroSpace Eng, Seoul National University, Seoul, South Korea","Department of Mechanical & Aerospace Engineering, Seoul National University, 151-744, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Eng, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Mechanical & Aerospace Engineering, Seoul National University, 151-744, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018761716","display_name":"Minkyun Noh","orcid":"https://orcid.org/0000-0001-5876-8854"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Min-kyun Noh","raw_affiliation_strings":["Department of Mechanical and AeroSpace Eng, Seoul National University, Seoul, South Korea","Department of Mechanical & Aerospace Engineering, Seoul National University, 151-744, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Eng, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Mechanical & Aerospace Engineering, Seoul National University, 151-744, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062631070","display_name":"Kyu\u2010Jin Cho","orcid":"https://orcid.org/0000-0003-2555-5048"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyu-jin Cho","raw_affiliation_strings":["Department of Mechanical and AeroSpace Eng, Seoul National University, Seoul, South Korea","Department of Mechanical & Aerospace Engineering, Seoul National University, 151-744, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Eng, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Department of Mechanical & Aerospace Engineering, Seoul National University, 151-744, Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8181,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.76562754,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"871","last_page":"871"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11870","display_name":"Structural Analysis and Optimization","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11737","display_name":"Advanced Materials and Mechanics","score":0.998199999332428,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9968000054359436,"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/robot","display_name":"Robot","score":0.7824585437774658},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6463837027549744},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.49308058619499207},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4581853449344635},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.43136709928512573},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.42024195194244385},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4177318811416626},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3948611617088318},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38160479068756104},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36803144216537476},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2877959609031677},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2736966609954834},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18195375800132751}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7824585437774658},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6463837027549744},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.49308058619499207},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4581853449344635},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.43136709928512573},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.42024195194244385},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4177318811416626},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3948611617088318},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38160479068756104},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36803144216537476},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2877959609031677},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2736966609954834},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18195375800132751},{"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/urai.2011.6145989","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2011.6145989","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":3,"referenced_works":["https://openalex.org/W2041258471","https://openalex.org/W2076162853","https://openalex.org/W6660856096"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W4390135167","https://openalex.org/W2067477688","https://openalex.org/W3104537609","https://openalex.org/W4231453746","https://openalex.org/W4242718759","https://openalex.org/W4376605692","https://openalex.org/W2332067308","https://openalex.org/W2940850594"],"abstract_inverted_index":{"Summary":[0],"form":[1],"only":[2],"given:":[3],"Various":[4],"biologically":[5],"inspired":[6,145,197,263],"small":[7,47,73,95,174,237,254,283,293],"scale":[8,26,48,74,175,284,294],"robots":[9],"are":[10,60],"built":[11],"with":[12,88,150,186,211,235],"endoskeleton":[13],"structures.":[14],"Generally,":[15],"endoskeletons":[16,28],"consist":[17],"of":[18,37,79,94,128,181,207,230,239,260,273],"rotational":[19],"joints":[20,49],"and":[21,32,40,50,81,184,189,232,245,286],"rigid":[22],"links.":[23],"For":[24],"millimeter":[25],"robots,":[27,285],"should":[29],"be":[30,44,132],"scalable":[31],"easy":[33],"to":[34,290],"manufacture.":[35],"Layers":[36],"composite":[38],"materials":[39],"polymer":[41],"film":[42],"can":[43,131,201],"fabricated":[45],"into":[46,134,161],"link":[51],"structures":[52,59,68,76,130],"as":[53],"seen":[54,122],"in":[55,72,77,123],"fig.":[56,124],"1.":[57],"The":[58,107,139,177,191,199,218,257,278],"called":[61],"SCM":[62,279],"(Smart":[63],"Composite":[64],"Microstructures)":[65],"[1].":[66],"These":[67],"have":[69],"many":[70],"advantages":[71],"robot":[75,103,109,114,141,146,193,264,275],"aspect":[78],"friction":[80],"manufacturing":[82],"simplicity.":[83],"We":[84],"expand":[85],"the":[86,154,261,274],"structure":[87],"SMA":[89,119],"spring":[90,117],"actuator":[91],"for":[92,173,253],"actuation":[93],"components.":[96],"In":[97],"this":[98],"video,":[99],"we":[100],"show":[101],"three":[102,126],"prototypes":[104],"using":[105,115],"SCM.":[106],"first":[108],"is":[110,142,168,194,243,269],"a":[111,135,169,195,221,236,250,288],"fully":[112],"foldable":[113],"torsional":[116],"type":[118],"actuator.":[120],"As":[121],"2,":[125],"segments":[127],"plate":[129],"folded":[133],"compact":[136],"cube":[137],"shape.":[138,164],"Second":[140],"Omegabot:":[143],"Inchworm":[144],"[3].":[147],"It":[148],"crawls":[149],"two":[151],"anchors":[152],"gripping":[153],"ground":[155],"alternatively":[156],"by":[157],"making":[158],"its":[159,208,212],"body":[160,209,213,276],"an":[162],"omega":[163],"This":[165,241],"simple":[166,244],"locomotion":[167],"suitable":[170],"moving":[171],"mechanism":[172,224,242,252],"robots.":[176,256,295],"Omegabot":[178],"produces":[179],"motions":[180],"crawling,":[182],"climbing,":[183],"steering":[185],"tethered":[187],"power":[188],"control.":[190],"third":[192],"flea":[196,200,219,262],"robot.":[198],"jump":[202],"more":[203],"than":[204],"130":[205],"times":[206,272],"length":[210,214],"just":[215],"below":[216],"1mm.":[217],"uses":[220],"torque":[222],"reversal":[223],"which":[225,247,268],"enables":[226],"storing":[227],"large":[228],"amount":[229,238],"energy":[231],"releasing":[233],"it":[234,249],"force.":[240],"efficient,":[246],"makes":[248],"good":[251],"jumping":[255],"current":[258],"prototype":[259],"jumps":[265],"64cm":[266],"high,":[267],"about":[270],"30":[271],"length.":[277],"enabled":[280],"these":[281],"novel":[282],"has":[287],"potential":[289],"enable":[291],"various":[292]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}