{"id":"https://openalex.org/W3090031205","doi":"https://doi.org/10.1109/cdc42340.2020.9304158","title":"Enforcing nonholonomic constraints in Aerobat, a roosting flapping wing model","display_name":"Enforcing nonholonomic constraints in Aerobat, a roosting flapping wing model","publication_year":2020,"publication_date":"2020-12-14","ids":{"openalex":"https://openalex.org/W3090031205","doi":"https://doi.org/10.1109/cdc42340.2020.9304158","mag":"3090031205"},"language":"en","primary_location":{"id":"doi:10.1109/cdc42340.2020.9304158","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9304158","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 59th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2009.14156","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073800169","display_name":"Eric Sihite","orcid":"https://orcid.org/0000-0002-8653-8842"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric Sihite","raw_affiliation_strings":["SiliconSynapse Laboratory, Northeastern University, Boston, MA, USA","Northeastern University,SiliconSynapse Laboratory,ECE Department,Boston,MA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SiliconSynapse Laboratory, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University,SiliconSynapse Laboratory,ECE Department,Boston,MA,USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101945710","display_name":"Alireza Ramezani","orcid":"https://orcid.org/0000-0002-3391-5288"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]},{"id":"https://openalex.org/I87182695","display_name":"Universidad del Noreste","ror":"https://ror.org/02ahky613","country_code":"MX","type":"education","lineage":["https://openalex.org/I87182695"]}],"countries":["MX","US"],"is_corresponding":false,"raw_author_name":"Alireza Ramezani","raw_affiliation_strings":["SiliconSynapse Laboratory, Northeastern University, Boston, MA, USA","Northeastern University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SiliconSynapse Laboratory, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Northeastern University","institution_ids":["https://openalex.org/I87182695"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11340759,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5321","last_page":"5327"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/flapping","display_name":"Flapping","score":0.7062304019927979},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6490586996078491},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5968338847160339},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5802754163742065},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.509458601474762},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.508380115032196},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4349074959754944},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.429668664932251},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4186607003211975},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3418755531311035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3198045492172241},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.283549040555954},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2638934850692749},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.23054805397987366},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22393640875816345},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1977936029434204},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16085097193717957}],"concepts":[{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.7062304019927979},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6490586996078491},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5968338847160339},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5802754163742065},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.509458601474762},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.508380115032196},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4349074959754944},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.429668664932251},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4186607003211975},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3418755531311035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3198045492172241},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.283549040555954},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2638934850692749},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.23054805397987366},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22393640875816345},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1977936029434204},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16085097193717957},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/cdc42340.2020.9304158","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9304158","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 59th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2009.14156","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2009.14156","pdf_url":"https://arxiv.org/pdf/2009.14156","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3090031205","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2009.14156.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2009.14156","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2009.14156","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2009.14156","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2009.14156","pdf_url":"https://arxiv.org/pdf/2009.14156","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7799999713897705,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3090031205.pdf"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1967238647","https://openalex.org/W2019604338","https://openalex.org/W2078436852","https://openalex.org/W2090449418","https://openalex.org/W2140393019","https://openalex.org/W2148970654","https://openalex.org/W2151471214","https://openalex.org/W2171879251","https://openalex.org/W2216237868","https://openalex.org/W2323662714","https://openalex.org/W2394925491","https://openalex.org/W2417820651","https://openalex.org/W2418672235","https://openalex.org/W2581933010","https://openalex.org/W2585024272","https://openalex.org/W2625286912","https://openalex.org/W2625646530","https://openalex.org/W2635827496","https://openalex.org/W2749863061","https://openalex.org/W2774570437","https://openalex.org/W3003423433","https://openalex.org/W3043669307","https://openalex.org/W3089700776","https://openalex.org/W6777194928"],"related_works":["https://openalex.org/W3119760668","https://openalex.org/W1967238647","https://openalex.org/W176290927","https://openalex.org/W121492316","https://openalex.org/W2477943816","https://openalex.org/W2147929115","https://openalex.org/W2507488567","https://openalex.org/W2207253610","https://openalex.org/W2072554749","https://openalex.org/W2019937951","https://openalex.org/W3045532488","https://openalex.org/W2727879848","https://openalex.org/W2977742195","https://openalex.org/W2537836431","https://openalex.org/W2887955158","https://openalex.org/W2505743025","https://openalex.org/W2106586754","https://openalex.org/W3045996956","https://openalex.org/W3207111613","https://openalex.org/W3134204555"],"abstract_inverted_index":{"Flapping":[0],"wing":[1],"flight":[2,78],"is":[3,9,80,141,158],"a":[4,11,28,59,64],"challenging":[5],"dynamical":[6,61],"problem":[7],"and":[8,36,46,95,105,137],"also":[10],"very":[12,29],"fascinating":[13],"subject":[14],"to":[15,42,89,143],"study":[16],"in":[17,25,82,128],"the":[18,40,56,86,100,112,129,133,145,150,155],"field":[19],"of":[20,58,63,102,132],"biomimetic":[21],"robotics.":[22],"A":[23,135],"Bat,":[24],"particular,":[26],"has":[27],"articulated":[30],"armwing":[31],"mechanism":[32],"with":[33],"high":[34],"degrees-of-freedom":[35,75],"flexibility":[37],"which":[38,70],"allows":[39],"animal":[41],"perform":[43],"highly":[44],"dynamic":[45],"complex":[47],"maneuvers,":[48],"such":[49,148],"as":[50],"upside-down":[51],"perching.":[52],"This":[53],"paper":[54],"presents":[55],"derivation":[57],"multi-body":[60],"system":[62],"bio-inspired":[65],"bat":[66],"robot":[67],"called":[68],"Aerobat":[69],"captures":[71],"multiple":[72],"biologically":[73],"meaningful":[74],"for":[76,97,119],"flapping":[77],"that":[79,124,149],"present":[81],"biological":[83],"bats.":[84],"Then,":[85],"work":[87],"attempts":[88],"manifest":[90],"closed-loop":[91],"aerial":[92],"body":[93],"reorientation":[94],"preparation":[96],"landing":[98],"through":[99],"manipulation":[101],"inertial":[103],"dynamics":[104],"aerodynamics":[106],"by":[107],"enforcing":[108],"nonholonomic":[109],"constraints":[110,127],"onto":[111],"system.":[113],"The":[114],"proposed":[115],"design":[116],"paradigm":[117],"assumes":[118],"rapidly":[120],"exponentially":[121],"stable":[122],"controllers":[123],"enforce":[125],"holonomic":[126],"joint":[130,146],"space":[131],"model.":[134],"model":[136],"optimization-based":[138],"nonlinear":[139],"controller":[140],"applied":[142],"resolve":[144],"trajectories":[147],"desired":[151],"angular":[152],"momentum":[153],"about":[154],"roll":[156],"axis":[157],"achieved.":[159]},"counts_by_year":[],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2025-10-10T00:00:00"}
