{"id":"https://openalex.org/W2057633945","doi":"https://doi.org/10.1109/iros.2013.6696527","title":"A wing characterization method for flapping-wing robotic insects","display_name":"A wing characterization method for flapping-wing robotic insects","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2057633945","doi":"https://doi.org/10.1109/iros.2013.6696527","mag":"2057633945"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696527","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5055473599","display_name":"Alexis Lussier Desbiens","orcid":"https://orcid.org/0000-0001-9193-7111"},"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":"Alexis Lussier Desbiens","raw_affiliation_strings":["Harvard Microrobotics Laboratory, Harvard University, Cambridge, MA, USA","Harvard Microrobotics Lab., Harvard Univ., Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard Microrobotics Laboratory, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"Harvard Microrobotics Lab., Harvard Univ., Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065031411","display_name":"Yufeng Chen","orcid":"https://orcid.org/0000-0002-4515-0710"},"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":"Yufeng Chen","raw_affiliation_strings":["Harvard Microrobotics Laboratory, Harvard University, Cambridge, MA 02138, USA","Harvard Microrobotics Lab., Harvard Univ., Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard Microrobotics Laboratory, Harvard University, Cambridge, MA 02138, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"Harvard Microrobotics Lab., Harvard Univ., Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068613839","display_name":"Robert J. Wood","orcid":"https://orcid.org/0000-0001-7969-038X"},"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":"Robert J. Wood","raw_affiliation_strings":["Harvard Microrobotics Laboratory, Harvard University, Cambridge, MA, USA","Harvard Microrobotics Lab., Harvard Univ., Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard Microrobotics Laboratory, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"Harvard Microrobotics Lab., Harvard Univ., Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":76.9688,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.99700566,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1367","last_page":"1373"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9714999794960022,"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/T10680","display_name":"Wind Energy Research and Development","score":0.9702000021934509,"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":0.8457361459732056},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.7800742387771606},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7333028316497803},{"id":"https://openalex.org/keywords/lift-to-drag-ratio","display_name":"Lift-to-drag ratio","score":0.5613439679145813},{"id":"https://openalex.org/keywords/drag","display_name":"Drag","score":0.5366958975791931},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.5321618318557739},{"id":"https://openalex.org/keywords/hinge","display_name":"Hinge","score":0.4675660729408264},{"id":"https://openalex.org/keywords/wing-twist","display_name":"Wing twist","score":0.4519018530845642},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.43398547172546387},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43218883872032166},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.43193280696868896},{"id":"https://openalex.org/keywords/angle-of-attack","display_name":"Angle of attack","score":0.40250498056411743},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3575156033039093},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35636836290359497},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.32584160566329956},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.27754873037338257},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12404066324234009},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09183865785598755}],"concepts":[{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.8457361459732056},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.7800742387771606},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7333028316497803},{"id":"https://openalex.org/C107157880","wikidata":"https://www.wikidata.org/wiki/Q845727","display_name":"Lift-to-drag ratio","level":3,"score":0.5613439679145813},{"id":"https://openalex.org/C72921944","wikidata":"https://www.wikidata.org/wiki/Q206621","display_name":"Drag","level":2,"score":0.5366958975791931},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.5321618318557739},{"id":"https://openalex.org/C44000306","wikidata":"https://www.wikidata.org/wiki/Q244330","display_name":"Hinge","level":2,"score":0.4675660729408264},{"id":"https://openalex.org/C137990359","wikidata":"https://www.wikidata.org/wiki/Q1120746","display_name":"Wing twist","level":4,"score":0.4519018530845642},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.43398547172546387},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43218883872032166},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.43193280696868896},{"id":"https://openalex.org/C527307","wikidata":"https://www.wikidata.org/wiki/Q370906","display_name":"Angle of attack","level":3,"score":0.40250498056411743},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3575156033039093},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35636836290359497},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.32584160566329956},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.27754873037338257},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12404066324234009},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09183865785598755},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6696527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696527","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.646.7529","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.646.7529","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/IROS13_Desbiens.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1882078760","https://openalex.org/W1963636759","https://openalex.org/W1969183316","https://openalex.org/W1987996887","https://openalex.org/W2014192334","https://openalex.org/W2041275701","https://openalex.org/W2076162853","https://openalex.org/W2088279556","https://openalex.org/W2096709572","https://openalex.org/W2119354422","https://openalex.org/W2126405480","https://openalex.org/W2148970654","https://openalex.org/W2164511061"],"related_works":["https://openalex.org/W2147883833","https://openalex.org/W1634574866","https://openalex.org/W1978110964","https://openalex.org/W2382490629","https://openalex.org/W2323700552","https://openalex.org/W4205245262","https://openalex.org/W211187349","https://openalex.org/W4289656491","https://openalex.org/W4309463157","https://openalex.org/W2997245650"],"abstract_inverted_index":{"This":[0,120],"paper":[1],"presents":[2],"a":[3,101,105,132],"wing":[4,19,70,89,129],"characterization":[5,71,130],"method":[6],"for":[7,49,128],"insect-scale":[8],"flapping-wing":[9],"robots.":[10],"A":[11],"quasi-steady":[12,53,62,86],"model":[13,63,109],"is":[14],"developed":[15],"to":[16,46,93,116],"predict":[17],"passive":[18,27],"pitching":[20],"at":[21,38],"mid-stroke.":[22],"Millimeter":[23],"scale":[24],"wings":[25],"and":[26,41,64,78,97,104],"hinges":[28],"are":[29,44,80],"manufactured":[30],"using":[31],"the":[32,52,58,61,66,69,108,111,122],"SCM":[33],"fabrication":[34],"processes.":[35],"Flapping":[36],"experiments":[37,56,126],"various":[39],"frequencies":[40],"driving":[42,106],"voltages":[43],"performed":[45],"extract":[47],"kinematics":[48,90],"comparison":[50],"with":[51,83],"predictions.":[54],"These":[55],"examine":[57],"validity":[59],"of":[60,68,88,95,124,134],"demonstrate":[65],"robustness":[67],"method.":[72],"In":[73],"addition,":[74],"because":[75],"time-averaged":[76],"lift":[77,96],"drag":[79,98],"strongly":[81],"correlated":[82],"flapping":[84,102,118,125],"kinematics,":[85],"prediction":[87],"directly":[91],"leads":[92,115],"predictions":[94],"generation.":[99],"Given":[100],"frequency":[103],"voltage,":[107],"computes":[110],"hinge":[112],"stiffness":[113],"that":[114],"optimal":[117],"kinematics.":[119],"reduces":[121],"number":[123],"required":[127],"by":[131],"factor":[133],"four.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
