{"id":"https://openalex.org/W2198804214","doi":"https://doi.org/10.1109/iros.2015.7353535","title":"Rotating the heading angle of underactuated flapping-wing flyers by wriggle-steering","display_name":"Rotating the heading angle of underactuated flapping-wing flyers by wriggle-steering","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2198804214","doi":"https://doi.org/10.1109/iros.2015.7353535","mag":"2198804214"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353535","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353535","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5103034519","display_name":"Sawyer B. Fuller","orcid":"https://orcid.org/0000-0001-6732-6791"},"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":"Sawyer B. Fuller","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 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/I4210142140","display_name":"Walt Disney (United States)","ror":"https://ror.org/04eg47h42","country_code":"US","type":"company","lineage":["https://openalex.org/I4210142140"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John P. Whitney","raw_affiliation_strings":["Disney Research Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"Disney Research Pittsburgh, PA","institution_ids":["https://openalex.org/I4210142140"]}]},{"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":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5103034519"],"corresponding_institution_ids":["https://openalex.org/I136199984"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.06345337,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"300","issue":null,"first_page":"1292","last_page":"1299"},"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9972000122070312,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9897000193595886,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/heading","display_name":"Heading (navigation)","score":0.7738723754882812},{"id":"https://openalex.org/keywords/flapping","display_name":"Flapping","score":0.7225759625434875},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7049633264541626},{"id":"https://openalex.org/keywords/yaw","display_name":"Yaw","score":0.6109370589256287},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6056017875671387},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.5695564150810242},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.5665347576141357},{"id":"https://openalex.org/keywords/elevator","display_name":"Elevator","score":0.4658867418766022},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46209517121315},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4570713937282562},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.45549023151397705},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.45365583896636963},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.406477689743042},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.3928285241127014},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3903800845146179},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37917813658714294},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.30698561668395996},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21873915195465088},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1340298354625702},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11091461777687073}],"concepts":[{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.7738723754882812},{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.7225759625434875},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7049633264541626},{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.6109370589256287},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6056017875671387},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.5695564150810242},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.5665347576141357},{"id":"https://openalex.org/C147021018","wikidata":"https://www.wikidata.org/wiki/Q252451","display_name":"Elevator","level":2,"score":0.4658867418766022},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46209517121315},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4570713937282562},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.45549023151397705},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.45365583896636963},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.406477689743042},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.3928285241127014},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3903800845146179},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37917813658714294},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.30698561668395996},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21873915195465088},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1340298354625702},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11091461777687073},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353535","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353535","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1963636759","https://openalex.org/W1969183316","https://openalex.org/W1978360141","https://openalex.org/W1987996887","https://openalex.org/W1994876883","https://openalex.org/W2004717812","https://openalex.org/W2030864956","https://openalex.org/W2035155402","https://openalex.org/W2038290591","https://openalex.org/W2041719738","https://openalex.org/W2042971018","https://openalex.org/W2052319034","https://openalex.org/W2058899943","https://openalex.org/W2080524911","https://openalex.org/W2103332553","https://openalex.org/W2111198283","https://openalex.org/W2133361850","https://openalex.org/W2161427949","https://openalex.org/W2166251540","https://openalex.org/W2332654577","https://openalex.org/W3148944279"],"related_works":["https://openalex.org/W4388953196","https://openalex.org/W3144671390","https://openalex.org/W609366245","https://openalex.org/W2513886483","https://openalex.org/W4206599012","https://openalex.org/W2186317423","https://openalex.org/W2621209863","https://openalex.org/W1988564139","https://openalex.org/W4250920615","https://openalex.org/W2088592922"],"abstract_inverted_index":{"The":[0,123,143],"Harvard":[1],"Robobee":[2],"is":[3,17,60],"a":[4,27,36,97,128,138],"fly-sized":[5,139],"aerial":[6,141],"vehicle":[7],"that":[8,118,146],"can":[9,148],"perform":[10],"controlled":[11,65],"flight":[12,135],"maneuvers.":[13],"But":[14],"this":[15,32],"robot":[16],"unable":[18],"to":[19,26,39],"control":[20,72],"its":[21,52],"yaw":[22,101],"or":[23,164],"heading":[24],"angle":[25,102],"desired":[28],"value.":[29],"Motivated":[30],"by":[31,154],"deficiency,":[33],"we":[34],"propose":[35,113],"new":[37],"method":[38,73],"produce":[40,119],"yaw-axis":[41],"rotations.":[42],"Termed":[43],"wriggle-steering,":[44],"it":[45,67],"consists":[46],"of":[47,93,107],"driving":[48],"body":[49],"oscillations":[50],"around":[51,63,80],"two":[53,114],"other":[54,165],"rotational":[55],"axes.":[56],"Because":[57],"no":[58],"torque":[59],"applied":[61],"directly":[62],"the":[64,86,120,156],"axis,":[66],"therefore":[68],"constitutes":[69],"an":[70],"alternative":[71],"for":[74,158],"under-actuated":[75],"designs.":[76],"Oscillations":[77],"are":[78,125],"driven":[79],"pitch":[81],"and":[82,134,151],"roll":[83],"axes":[84],"at":[85],"same":[87],"frequency":[88],"but":[89],"90":[90],"degrees":[91],"out":[92],"phase,":[94],"resulting":[95],"in":[96,100,109,161],"small":[98],"change":[99],"after":[103],"each":[104],"cycle":[105],"because":[106],"nonlinearity":[108],"attitude":[110],"dynamics.":[111],"We":[112],"wing":[115],"kinematics":[116],"perturbations":[117],"necessary":[121],"actuation.":[122],"predictions":[124],"validated":[126],"with":[127],"quasi-steady":[129],"aerodynamics":[130],"model,":[131],"free-body":[132],"simulations,":[133],"tests":[136],"on":[137],"hovering":[140],"robot.":[142],"results":[144],"suggest":[145],"wriggle-steering":[147],"save":[149],"mass":[150],"reduce":[152],"complexity":[153],"eliminating":[155],"need":[157],"additional":[159],"actuators":[160],"flapping-wing":[162],"robots":[163],"aircraft.":[166]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
