{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,8]],"date-time":"2026-06-08T13:47:31Z","timestamp":1780926451281,"version":"3.54.1"},"reference-count":31,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[2009,7,1]],"date-time":"2009-07-01T00:00:00Z","timestamp":1246406400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2009,8]]},"abstract":"<jats:p>\n                    Here we present the control, performance and modeling of an untethered electromagnetically actuated magnetic micro-robot. The microrobot, which is composed of neodymium\u2014iron\u2014boron with dimensions 250 \u03bcm 1 130 \u03bcm 1 10 \u03bcm , is actuated by a system of six macro-scale electromagnets. Periodically varying magnetic fields are used to impose magnetic torques, which induce stick\u2014slip motion in the micro-robot. These magnetic forces and torques are incorporated into a comprehensive dynamic model, which captures the behavior of the micro-robot. By pivoting the micro-robot about an edge, non-planar obstacles with characteristic sizes comparable to the robot length can be surmounted. Actuation is demonstrated on several substrates with different surface properties, in a fluid environment, and in a vacuum. Observed micro-robot translation speeds can exceed 10 mm s\n                    <jats:sup>-1<\/jats:sup>\n                    .\n                  <\/jats:p>","DOI":"10.1177\/0278364909341413","type":"journal-article","created":{"date-parts":[[2009,7,1]],"date-time":"2009-07-01T20:49:58Z","timestamp":1246481398000},"page":"1077-1094","source":"Crossref","is-referenced-by-count":283,"title":["Modeling and Experimental Characterization of an Untethered Magnetic Micro-Robot"],"prefix":"10.1177","volume":"28","author":[{"given":"Chytra","family":"Pawashe","sequence":"first","affiliation":[{"name":"Equally contributing co-first authors Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA,"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Steven","family":"Floyd","sequence":"additional","affiliation":[{"name":"Equally contributing co-first authors Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA,"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Metin","family":"Sitti","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA,"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2009,7,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1063\/1.2431454"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1119\/1.15501"},{"key":"atypb3","volume-title":"Field and Wave Electromagnetics","author":"Cheng, D.K.","year":"1992","edition":"2"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1109\/JMEMS.2005.863697"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1109\/JMEMS.2008.924251"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1038\/nature04090"},{"key":"atypb7","volume-title":"The 10th International Conference on Solid-State Sensors and Actuators","author":"Ebefors, T."},{"key":"atypb8","volume-title":"IEEE International Conference on Robotics and Automation","author":"Floyd, S."},{"key":"atypb9","volume-title":"Two-dimensional contact and non-contact micro-manipulation in liquid using an untethered mobile magnetic micro-robot","author":"Floyd, S.","year":"2009"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1109\/61.277684"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1063\/1.1753100"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(86)90088-1"},{"key":"atypb13","volume-title":"Intermolecular and Surface Forces","author":"Israelachvili, J.","year":"1992"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1016\/S0924-4247(99)00258-7"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1088\/0960-1317\/15\/10\/S01"},{"key":"atypb16","volume-title":"IEEE International Conference on Robotics and Automation","author":"Martel, S."},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1063\/1.2402221"},{"key":"atypb18","first-page":"3419","volume":"4","author":"Mathieu, J.","year":"2003","journal-title":"IEEE-EMBS Conference on Biomedical Engineering"},{"key":"atypb19","volume-title":"ASME International Mechanical Engineering Congress and Exposition","author":"Mohebbi, M."},{"key":"atypb20","volume-title":"Fundamentals of Fluid Mechanics","author":"Munson, B.","year":"2002","edition":"4"},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1016\/S0043-1648(03)00248-5"},{"key":"atypb22","volume-title":"Proceedings of Robotics: Science and Systems IV","author":"Pawashe, C."},{"key":"atypb23","doi-asserted-by":"publisher","DOI":"10.1063\/1.3123231"},{"key":"atypb24","doi-asserted-by":"publisher","DOI":"10.1023\/A:1019119925494"},{"key":"atypb25","doi-asserted-by":"crossref","DOI":"10.1007\/b117574","volume-title":"Microsystem Design","author":"Senturia, S.","year":"2001"},{"key":"atypb26","doi-asserted-by":"publisher","DOI":"10.1098\/rsta.2001.0904"},{"key":"atypb27","doi-asserted-by":"publisher","DOI":"10.1063\/1.2388135"},{"key":"atypb28","doi-asserted-by":"publisher","DOI":"10.1063\/1.2907697"},{"key":"atypb29","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmmm.2003.12.337"},{"key":"atypb30","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906065389"},{"key":"atypb31","doi-asserted-by":"publisher","DOI":"10.1016\/j.wear.2005.01.033"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364909341413","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364909341413","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:47Z","timestamp":1777457807000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364909341413"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,7,1]]},"references-count":31,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2009,8]]}},"alternative-id":["10.1177\/0278364909341413"],"URL":"https:\/\/doi.org\/10.1177\/0278364909341413","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,7,1]]}}}