# A 7 cm-Scale Spherical Underwater Robot Using Piezoelectric Double-Jet Actuator for Deep-Sea Environment

> Research article (IEEE/ASME Transactions on Mechatronics, 2023) · cited 14× · AI/ML

**Wikidata**: [openalex:W4390357068](https://www.wikidata.org/wiki/openalex:W4390357068)  
**Source**: https://4ort.xyz/entity/a-7-cm-scale-spherical-underwater-robot-using-piezoelectric-double-jet-actuator-for-deep-sea-environment