Omnidirectional motion of an untethered tripodal microrobot using radial piezoelectric actuators.

Yu Gao, Jing Li, Shijing Zhang, Jipeng Yan, Yilin Zhang, Baoyi Liu, Jinghan Guan, Dehong Wang, Jie Deng, Yingxiang Liu

Abstract read

In one paragraph

Article in Nature communications, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it

0cells of the map it votes in

0citing papers in PubMed

–field-weighted citation impact

1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

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.

2 · The registry

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.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

10 authors.

Yu Gao *State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China.ORCID http://orcid.org/0009-0005-5509-5224

Jing Li *State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China.ORCID http://orcid.org/0000-0003-2392-9325

Shijing Zhang *State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China.ORCID http://orcid.org/0000-0002-5792-0524

Jipeng YanState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China.

Yilin ZhangState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China.

Baoyi LiuState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China.

Jinghan GuanState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China.

Dehong WangState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China.

Jie DengState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China. dengjie21@hit.edu.cn.ORCID http://orcid.org/0000-0001-9544-3709

Yingxiang LiuState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China. liuyingxiang868@hit.edu.cn.ORCID http://orcid.org/0000-0001-5684-9159

Funding

National Natural Science Foundation of China (National Science Foundation of China) 52225501National Natural Science Foundation of China (National Science Foundation of China) 523B2040National Natural Science Foundation of China (National Science Foundation of China) 52405012

6 · The paper itself

Abstract

Miniature robots require minimal operational space for confined environments. Here, we propose an untethered tripodal piezoelectric robot to achieve omnidirectional locomotion and narrowing its required turning space exactly to its compact size (Φ3.10 × 2.75 cm

Identifiers

PMID42069677

DOI10.1038/s41467-026-72449-x

PMCPMC13342670

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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.