{"id":"https://openalex.org/W4402367145","doi":"https://doi.org/10.3390/robotics13090135","title":"Vibration Propulsion in Untethered Insect-Scale Robots with Piezoelectric Bimorphs and 3D-Printed Legs","display_name":"Vibration Propulsion in Untethered Insect-Scale Robots with Piezoelectric Bimorphs and 3D-Printed Legs","publication_year":2024,"publication_date":"2024-09-09","ids":{"openalex":"https://openalex.org/W4402367145","doi":"https://doi.org/10.3390/robotics13090135"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13090135","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13090135","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/robotics13090135","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050437488","display_name":"Mario Rodolfo Ram\u00edrez-Palma","orcid":"https://orcid.org/0000-0002-4179-472X"},"institutions":[{"id":"https://openalex.org/I79189158","display_name":"University of Castilla-La Mancha","ror":"https://ror.org/05r78ng12","country_code":"ES","type":"education","lineage":["https://openalex.org/I79189158"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Mario Rodolfo Ram\u00edrez-Palma","raw_affiliation_strings":["Microsystems, Actuators and Sensors Group, INAMOL-Universidad de Castilla La-Mancha, 45004 Toledo, Spain"],"raw_orcid":"https://orcid.org/0000-0002-4179-472X","affiliations":[{"raw_affiliation_string":"Microsystems, Actuators and Sensors Group, INAMOL-Universidad de Castilla La-Mancha, 45004 Toledo, Spain","institution_ids":["https://openalex.org/I79189158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006119963","display_name":"V\u00edctor Ruiz-D\u00edez","orcid":"https://orcid.org/0000-0002-0568-2974"},"institutions":[{"id":"https://openalex.org/I79189158","display_name":"University of Castilla-La Mancha","ror":"https://ror.org/05r78ng12","country_code":"ES","type":"education","lineage":["https://openalex.org/I79189158"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"V\u00edctor Ruiz-D\u00edez","raw_affiliation_strings":["Microsystems, Actuators and Sensors Group, INAMOL-Universidad de Castilla La-Mancha, 45004 Toledo, Spain"],"raw_orcid":"https://orcid.org/0000-0002-0568-2974","affiliations":[{"raw_affiliation_string":"Microsystems, Actuators and Sensors Group, INAMOL-Universidad de Castilla La-Mancha, 45004 Toledo, Spain","institution_ids":["https://openalex.org/I79189158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009995974","display_name":"V\u00edctor Corsino","orcid":"https://orcid.org/0000-0003-3456-9871"},"institutions":[{"id":"https://openalex.org/I79189158","display_name":"University of Castilla-La Mancha","ror":"https://ror.org/05r78ng12","country_code":"ES","type":"education","lineage":["https://openalex.org/I79189158"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"V\u00edctor Corsino","raw_affiliation_strings":["Microsystems, Actuators and Sensors Group, INAMOL-Universidad de Castilla La-Mancha, 45004 Toledo, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Microsystems, Actuators and Sensors Group, INAMOL-Universidad de Castilla La-Mancha, 45004 Toledo, Spain","institution_ids":["https://openalex.org/I79189158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064576504","display_name":"J. L. S\u00e1nchez-Rojas","orcid":"https://orcid.org/0000-0001-8605-0321"},"institutions":[{"id":"https://openalex.org/I79189158","display_name":"University of Castilla-La Mancha","ror":"https://ror.org/05r78ng12","country_code":"ES","type":"education","lineage":["https://openalex.org/I79189158"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Jos\u00e9 Luis S\u00e1nchez-Rojas","raw_affiliation_strings":["Microsystems, Actuators and Sensors Group, INAMOL-Universidad de Castilla La-Mancha, 45004 Toledo, Spain"],"raw_orcid":"https://orcid.org/0000-0001-8605-0321","affiliations":[{"raw_affiliation_string":"Microsystems, Actuators and Sensors Group, INAMOL-Universidad de Castilla La-Mancha, 45004 Toledo, Spain","institution_ids":["https://openalex.org/I79189158"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5064576504"],"corresponding_institution_ids":["https://openalex.org/I79189158"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":3.9001,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.93852883,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"13","issue":"9","first_page":"135","last_page":"135"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9994000196456909,"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":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6183143854141235},{"id":"https://openalex.org/keywords/piezoelectricity","display_name":"Piezoelectricity","score":0.6053357124328613},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.5759273767471313},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.557166576385498},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.4574640393257141},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4507068991661072},{"id":"https://openalex.org/keywords/marine-propulsion","display_name":"Marine propulsion","score":0.4453665018081665},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.433438777923584},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4004599153995514},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.396744966506958},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3211961090564728},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3050977289676666},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24820750951766968},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.20546430349349976},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1994895040988922},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09815415740013123}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6183143854141235},{"id":"https://openalex.org/C100082104","wikidata":"https://www.wikidata.org/wiki/Q183759","display_name":"Piezoelectricity","level":2,"score":0.6053357124328613},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.5759273767471313},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.557166576385498},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.4574640393257141},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4507068991661072},{"id":"https://openalex.org/C505695854","wikidata":"https://www.wikidata.org/wiki/Q11482290","display_name":"Marine propulsion","level":3,"score":0.4453665018081665},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.433438777923584},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4004599153995514},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.396744966506958},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3211961090564728},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3050977289676666},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24820750951766968},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.20546430349349976},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1994895040988922},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09815415740013123},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics13090135","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13090135","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:3b1bcf76157b4b4e8e11e9f65a87fdaa","is_oa":false,"landing_page_url":"https://doaj.org/article/3b1bcf76157b4b4e8e11e9f65a87fdaa","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 13, Iss 9, p 135 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics13090135","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13090135","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1977421569","https://openalex.org/W2035238691","https://openalex.org/W2050257809","https://openalex.org/W2055421226","https://openalex.org/W2069635053","https://openalex.org/W2072544504","https://openalex.org/W2098055994","https://openalex.org/W2105967775","https://openalex.org/W2164782767","https://openalex.org/W2168333982","https://openalex.org/W2580657058","https://openalex.org/W2587818863","https://openalex.org/W2601610124","https://openalex.org/W2783801856","https://openalex.org/W2958695767","https://openalex.org/W2996185064","https://openalex.org/W3055628792","https://openalex.org/W3082851963","https://openalex.org/W3128371543","https://openalex.org/W3131691320","https://openalex.org/W3177249207","https://openalex.org/W4200011806","https://openalex.org/W4231129650","https://openalex.org/W4250464919","https://openalex.org/W4290786647","https://openalex.org/W4300425571","https://openalex.org/W4307273008","https://openalex.org/W4393339931","https://openalex.org/W4396736608"],"related_works":["https://openalex.org/W4307720037","https://openalex.org/W2889106326","https://openalex.org/W2327216671","https://openalex.org/W421511709","https://openalex.org/W3081652730","https://openalex.org/W2001477951","https://openalex.org/W2791627130","https://openalex.org/W2118960880","https://openalex.org/W575866331","https://openalex.org/W2153030399"],"abstract_inverted_index":{"This":[0],"research":[1],"presents":[2],"the":[3,79,93,101,111],"development":[4],"and":[5,33,50,72,106,129,148,169,189],"evaluation":[6],"of":[7,17,69,78,145,152,160,165,167,175],"a":[8,34,138,142,149,163,196],"miniature":[9],"autonomous":[10,201],"robot":[11,21,121,134,180],"inspired":[12],"by":[13],"insect":[14],"locomotion,":[15],"capable":[16],"bidirectional":[18],"movement.":[19],"The":[20,59,75,118,133,179],"incorporates":[22],"two":[23,63,102],"piezoelectric":[24,38,104],"bimorph":[25],"resonators,":[26],"3D-printed":[27,80],"legs,":[28],"an":[29,55,170],"electronic":[30],"power":[31,158],"circuit,":[32],"battery-operated":[35],"microcontroller.":[36],"Each":[37],"motor":[39],"features":[40],"ceramic":[41],"plates":[42],"measuring":[43],"15":[44],"\u00d7":[45,47,124,126],"1.5":[46],"0.6":[48],"mm3":[49,128],"weighing":[51],"0.1":[52],"g,":[53],"with":[54,66,157],"optimized":[56],"electrode":[57],"layout.":[58],"bimorphs":[60],"vibrate":[61],"at":[62],"flexural":[64],"modes":[65],"resonant":[67],"frequencies":[68],"approximately":[70,176],"70":[71,146],"100":[73],"kHz.":[74],"strategic":[76],"placement":[77],"legs":[81],"converts":[82],"out-of-plane":[83],"motion":[84],"into":[85],"effective":[86],"forward":[87],"or":[88],"backward":[89],"propulsion,":[90],"depending":[91],"on":[92,137],"vibration":[94],"mode.":[95],"A":[96],"differential":[97],"drive":[98],"configuration,":[99],"using":[100],"parallel":[103],"motors":[105],"calibrated":[107],"excitation":[108],"signals":[109],"from":[110],"microcontroller,":[112],"allows":[113],"for":[114],"arbitrary":[115],"path":[116],"navigation.":[117],"fully":[119],"assembled":[120],"measures":[122],"29":[123],"17":[125],"18":[127],"weighs":[130],"7.4":[131],"g.":[132],"was":[135],"tested":[136],"glass":[139],"surface,":[140],"reaching":[141],"maximum":[143],"speed":[144,151],"mm/s":[147],"rotational":[150],"up":[153],"to":[154],"190":[155],"deg./s,":[156],"consumption":[159],"50":[161],"mW,":[162],"cost":[164],"transport":[166],"10,":[168],"estimated":[171],"continuous":[172],"operation":[173],"time":[174],"6.7":[177],"h.":[178],"successfully":[181],"followed":[182],"pre-programmed":[183],"paths,":[184],"demonstrating":[185],"its":[186],"precise":[187],"control":[188],"agility":[190],"in":[191,199],"navigating":[192],"complex":[193],"environments,":[194],"marking":[195],"significant":[197],"advancement":[198],"insect-scale":[200],"robotics.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}