{"id":"https://openalex.org/W2039452485","doi":"https://doi.org/10.1109/iros.2010.5650269","title":"Energetics of flapping-wing robotic insects: towards autonomous hovering flight","display_name":"Energetics of flapping-wing robotic insects: towards autonomous hovering flight","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2039452485","doi":"https://doi.org/10.1109/iros.2010.5650269","mag":"2039452485"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5650269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650269","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011684300","display_name":"Michael Karpelson","orcid":"https://orcid.org/0000-0001-8867-770X"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"M Karpelson","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066419167","display_name":"John P. Whitney","orcid":"https://orcid.org/0000-0002-5317-0228"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J P Whitney","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043327132","display_name":"Gu-Yeon Wei","orcid":"https://orcid.org/0000-0001-5730-9904"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gu-Yeon Wei","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109219334","display_name":"R. J. Wood","orcid":null},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R J Wood","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5011684300"],"corresponding_institution_ids":["https://openalex.org/I136199984"],"apc_list":null,"apc_paid":null,"fwci":171.965,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.99921132,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1630","last_page":"1637"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":1.0,"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":1.0,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9678999781608582,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6852309703826904},{"id":"https://openalex.org/keywords/flapping","display_name":"Flapping","score":0.5713707804679871},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.5279095768928528},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.5008559226989746},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4752388000488281},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.474870890378952},{"id":"https://openalex.org/keywords/energetics","display_name":"Energetics","score":0.4453585147857666},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3952258229255676},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37954747676849365},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.34409016370773315},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2676919102668762},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07601532340049744}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6852309703826904},{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.5713707804679871},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.5279095768928528},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.5008559226989746},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4752388000488281},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.474870890378952},{"id":"https://openalex.org/C97514900","wikidata":"https://www.wikidata.org/wiki/Q719597","display_name":"Energetics","level":2,"score":0.4453585147857666},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3952258229255676},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37954747676849365},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.34409016370773315},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2676919102668762},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07601532340049744},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2010.5650269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650269","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.370.350","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.370.350","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://micro.seas.harvard.edu/papers/Karpelson_IROS10.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4699999988079071}],"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":24,"referenced_works":["https://openalex.org/W1502787437","https://openalex.org/W1577607842","https://openalex.org/W1910119307","https://openalex.org/W1934843800","https://openalex.org/W1969183316","https://openalex.org/W1977421569","https://openalex.org/W1978113302","https://openalex.org/W1978360141","https://openalex.org/W1987687683","https://openalex.org/W2052079794","https://openalex.org/W2057516087","https://openalex.org/W2069481658","https://openalex.org/W2076162853","https://openalex.org/W2096063654","https://openalex.org/W2112107111","https://openalex.org/W2114338873","https://openalex.org/W2119361268","https://openalex.org/W2124043346","https://openalex.org/W2135384722","https://openalex.org/W2152260006","https://openalex.org/W2156421840","https://openalex.org/W2285864661","https://openalex.org/W6644895216","https://openalex.org/W6679878670"],"related_works":["https://openalex.org/W2912105044","https://openalex.org/W2611757152","https://openalex.org/W3144115730","https://openalex.org/W1970032862","https://openalex.org/W2945493325","https://openalex.org/W2015457592","https://openalex.org/W2624852988","https://openalex.org/W2123877307","https://openalex.org/W2972082501","https://openalex.org/W1976686391"],"abstract_inverted_index":{"Flapping-wing":[0],"mechanisms":[1],"inspired":[2],"by":[3,122],"biological":[4,131],"insects":[5,66,132],"have":[6],"the":[7,45,50,55,60,68,85,117,126,139,148],"potential":[8],"to":[9,28,38,111,130],"enable":[10,75],"a":[11,40,91,96,102,113],"new":[12],"class":[13],"of":[14,47,49,63,70,84,99,141,147],"small,":[15],"highly":[16],"maneuverable":[17],"aerial":[18],"robots":[19],"with":[20,67],"hovering":[21],"capabilities.":[22],"In":[23],"order":[24],"for":[25,101,116],"such":[26],"devices":[27],"operate":[29],"without":[30],"an":[31],"external":[32],"power":[33,76],"source,":[34],"it":[35],"is":[36],"necessary":[37],"address":[39],"complex":[41],"system":[42],"design":[43,72],"challenge:":[44],"integration":[46],"all":[48],"required":[51],"components":[52],"on":[53],"board":[54],"robot.":[56,149],"This":[57],"paper":[58],"discusses":[59],"flight":[61,80,119],"energetics":[62],"flapping-wing":[64],"robotic":[65],"goal":[69],"selecting":[71],"parameters":[73],"that":[74],"autonomy":[77],"and":[78,94,137],"maximize":[79],"time.":[81],"The":[82,107],"subsystems":[83,146],"robot":[86,128],"are":[87,109],"analyzed":[88],"both":[89],"from":[90],"broad":[92],"perspective":[93],"using":[95],"detailed":[97],"set":[98],"models":[100,108],"piezoelectrically":[103],"driven":[104],"two-wing":[105],"design.":[106],"used":[110],"perform":[112],"system-level":[114],"optimization":[115],"maximum":[118],"time":[120],"permitted":[121],"current":[123],"technology,":[124],"compare":[125],"resulting":[127],"configurations":[129],"across":[133],"several":[134],"key":[135],"metrics,":[136],"discuss":[138],"effect":[140],"performance":[142],"gains":[143],"in":[144],"various":[145]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":8}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
