# An umbrella-shaped flexible mechanism piezoelectric actuator with driving foot trajectory control

> Research article (Smart Materials and Structures, 2024) · cited 11× · AI/ML

**Wikidata**: [openalex:W4394741503](https://www.wikidata.org/wiki/openalex:W4394741503)  
**Source**: https://4ort.xyz/entity/an-umbrella-shaped-flexible-mechanism-piezoelectric-actuator-with-driving-foot-trajectory-control