ArticleAdvanced science (Weinheim, Baden-Wurttemberg, Germany)2024
Multidirectional Planar Motion Transmission on a Single-Motor Actuated Robot via Microscopic Galumphing.
Article in Advanced science (Weinheim, Baden-Wurttemberg, Germany), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
8 citing papers in PubMed.
- Arthropod-Inspired Miniature Modular Vibration Direct-Drive Robot With Untethered Locomotion.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Omnidirectional motion of an untethered tripodal microrobot using radial piezoelectric actuators.Nature communications · 2026Article
- Inertia-driven amphibious robot with asymmetric microundulatory fin arrays.Science advances · 2026Article
- Zoborg: On-Demand Climbing Control for Cyborg Beetles.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2025Article
- Cyborg insect factory: automatic assembly for insect-computer hybrid robot via vision-guided robotic arm manipulation of custom bipolar electrodes.Nature communications · 2025Article
- A non-electrical pneumatic hybrid oscillator for high-frequency multimodal robotic locomotion.Nature communications · 2025Article
- An agile multimodal microrobot with architected passively morphing wheels.Science advances · 2024Article
- Multidirectional Planar Motion Transmission on a Single-Motor Actuated Robot via Microscopic Galumphing.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2024Article
Corrections and comments
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Authors and funding
5 authors.
Funding
Abstract
Insect-scale mobile robots can execute diverse arrays of tasks in confined spaces. Although most self-contained crawling robots integrate multiple actuators to ensure high flexibility, the intricate actuators restrict their miniaturization. Conversely, robots with a single actuator lack the requisite agility and precision for planar movements. Herein, a novel eccentric rotation-dependent multidirectional transmission is presented using a tilted eccentric motor and a simplistic two-legged structural configuration for planar locomotion. The speed of the eccentric motor is modulated to enable alternating microscopic jumps to propel the system, creating a mode of motion analogous to galumphing of seals. Upon modeling the motion dynamics and conducting experiments, the effectiveness of direct motion transmission is substantiated through microscopic galumphing encompassing left/right crawling and straight-forward crawling. Finally, a 1.2 g untethered robot is developed, which demonstrates enhanced straight crawling and spot turning, traverses narrow tunnels, and achieves precise movements. Therefore, the proposed motion-transmission technique provides a comprehensive set of innovative solutions of underactuated agile robots.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.