{"id":"https://openalex.org/W2413323843","doi":"https://doi.org/10.1109/icra.2016.7487667","title":"The flying monkey: A mesoscale robot that can run, fly, and grasp","display_name":"The flying monkey: A mesoscale robot that can run, fly, and grasp","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2413323843","doi":"https://doi.org/10.1109/icra.2016.7487667","mag":"2413323843"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487667","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1721.1/103070","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087249519","display_name":"Yash Mulgaonkar","orcid":"https://orcid.org/0000-0002-5330-1208"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yash Mulgaonkar","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006883016","display_name":"Brandon Araki","orcid":"https://orcid.org/0000-0002-3094-1587"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Brandon Araki","raw_affiliation_strings":["CSAIL, The Stata Center, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSAIL, The Stata Center, Cambridge, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044402664","display_name":"Je\u2010Sung Koh","orcid":"https://orcid.org/0000-0002-7739-0882"},"institutions":[{"id":"https://openalex.org/I4210123353","display_name":"Inspire","ror":"https://ror.org/02sy45055","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210123353"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Je-sung Koh","raw_affiliation_strings":["Harvard University, Wyss Institute for Biologically Inspired Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard University, Wyss Institute for Biologically Inspired Engineering","institution_ids":["https://openalex.org/I4210123353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048059375","display_name":"Luis Guerrero-Bonilla","orcid":"https://orcid.org/0000-0001-7357-0264"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Guerrero-Bonilla","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054327640","display_name":"Daniel M. Aukes","orcid":"https://orcid.org/0000-0002-7746-2401"},"institutions":[{"id":"https://openalex.org/I4210123353","display_name":"Inspire","ror":"https://ror.org/02sy45055","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210123353"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Daniel M. Aukes","raw_affiliation_strings":["Harvard University, Wyss Institute for Biologically Inspired Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard University, Wyss Institute for Biologically Inspired Engineering","institution_ids":["https://openalex.org/I4210123353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038984449","display_name":"Anurag Makineni","orcid":"https://orcid.org/0000-0002-9092-3129"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anurag Makineni","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056621190","display_name":"Michael T. Tolley","orcid":"https://orcid.org/0000-0001-7821-7777"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael T. Tolley","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, San Diego"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, San Diego","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["CSAIL, The Stata Center, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSAIL, The Stata Center, Cambridge, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068613839","display_name":"Robert J. Wood","orcid":"https://orcid.org/0000-0001-7969-038X"},"institutions":[{"id":"https://openalex.org/I4210123353","display_name":"Inspire","ror":"https://ror.org/02sy45055","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210123353"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Robert J. Wood","raw_affiliation_strings":["Harvard University, Wyss Institute for Biologically Inspired Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard University, Wyss Institute for Biologically Inspired Engineering","institution_ids":["https://openalex.org/I4210123353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112769739","display_name":"Vijay Kumar","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.376,"has_fulltext":false,"cited_by_count":76,"citation_normalized_percentile":{"value":0.94525168,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4672","last_page":"4679"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9988999962806702,"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/grasp","display_name":"GRASP","score":0.7563967704772949},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6813225150108337},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.5514683127403259},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5509122014045715},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5179668664932251},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5051639676094055},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.47074729204177856},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.43545252084732056},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4274417757987976},{"id":"https://openalex.org/keywords/flight-simulator","display_name":"Flight simulator","score":0.41057026386260986},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3809557259082794},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.35384783148765564},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3157466948032379},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2948722839355469}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7563967704772949},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6813225150108337},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.5514683127403259},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5509122014045715},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5179668664932251},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5051639676094055},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.47074729204177856},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.43545252084732056},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4274417757987976},{"id":"https://openalex.org/C41376638","wikidata":"https://www.wikidata.org/wiki/Q214932","display_name":"Flight simulator","level":2,"score":0.41057026386260986},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3809557259082794},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.35384783148765564},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3157466948032379},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2948722839355469},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2016.7487667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487667","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/103070","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/103070","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Araki","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/103070","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/103070","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Araki","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320333979","display_name":"Hansj\u00f6rg Wyss Institute for Biologically Inspired Engineering, Harvard University","ror":"https://ror.org/008cfmj78"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W270465109","https://openalex.org/W1494495709","https://openalex.org/W1519514846","https://openalex.org/W1964302760","https://openalex.org/W1968550660","https://openalex.org/W1970828146","https://openalex.org/W1982636603","https://openalex.org/W1996968614","https://openalex.org/W2014247633","https://openalex.org/W2024156922","https://openalex.org/W2055358056","https://openalex.org/W2072128224","https://openalex.org/W2076162853","https://openalex.org/W2095514019","https://openalex.org/W2096169664","https://openalex.org/W2105696203","https://openalex.org/W2109656638","https://openalex.org/W2120605830","https://openalex.org/W2127694416","https://openalex.org/W2140316998","https://openalex.org/W2168069209","https://openalex.org/W2171541671","https://openalex.org/W2294416892","https://openalex.org/W2320772578","https://openalex.org/W6610031952"],"related_works":["https://openalex.org/W2883256816","https://openalex.org/W2163296013","https://openalex.org/W2171408034","https://openalex.org/W3003320923","https://openalex.org/W2106140982","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W2152313554","https://openalex.org/W1550790738","https://openalex.org/W2606876718"],"abstract_inverted_index":{"The":[0,20,106],"agility":[1],"and":[2,18,40,72,92,109,118,128,138],"ease":[3],"of":[4,22,80,112,133,136],"control":[5],"make":[6],"a":[7,34,62,87,102],"quadrotor":[8,84],"aircraft":[9,85],"an":[10,93],"attractive":[11],"platform":[12,65,77],"for":[13,25],"studying":[14],"swarm":[15],"behavior,":[16],"modeling,":[17],"control.":[19],"energetics":[21],"sustained":[23],"flight":[24,50],"small":[26],"aircraft,":[27],"however,":[28],"limit":[29],"typical":[30],"applications":[31],"to":[32,44,96,116],"only":[33],"few":[35],"minutes.":[36],"Adding":[37],"payloads":[38],"-":[39,47],"the":[41,59,81,120,131,134],"mechanisms":[42],"used":[43],"manipulate":[45],"them":[46],"reduces":[48],"this":[49,55,113],"time":[51],"even":[52],"further.":[53],"In":[54],"paper":[56,114],"we":[57],"present":[58],"flying":[60,121],"monkey,":[61],"novel":[63],"robot":[64],"having":[66],"three":[67,99],"main":[68,107],"capabilities:":[69],"walking,":[70],"grasping,":[71],"flight.":[73],"This":[74],"new":[75],"robotic":[76],"merges":[78],"one":[79],"world's":[82],"smallest":[83],"with":[86],"lightweight,":[88],"single-degree-of-freedom":[89],"walking":[90],"mechanism":[91],"SMA-actuated":[94],"gripper":[95],"enable":[97],"all":[98],"functions":[100],"in":[101],"30":[103],"g":[104],"package.":[105],"goal":[108],"key":[110],"contribution":[111],"is":[115],"design":[117],"prototype":[119],"monkey":[122],"that":[123],"has":[124],"increased":[125],"mission":[126],"life":[127],"capabilities":[129],"through":[130],"combination":[132],"functionalities":[135],"legged":[137],"aerial":[139],"robots.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}