{"id":"https://openalex.org/W2566612950","doi":"https://doi.org/10.1109/iros.2016.7759334","title":"Cockroach-inspired winged robot reveals principles of ground-based dynamic self-righting","display_name":"Cockroach-inspired winged robot reveals principles of ground-based dynamic self-righting","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2566612950","doi":"https://doi.org/10.1109/iros.2016.7759334","mag":"2566612950"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759334","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100369775","display_name":"Chen Li","orcid":"https://orcid.org/0000-0001-7516-3646"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chen Li","raw_affiliation_strings":["Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048026511","display_name":"Chad C. Kessens","orcid":"https://orcid.org/0000-0001-6366-0880"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chad C. Kessens","raw_affiliation_strings":["United States Army Research Laboratory, Ground, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"United States Army Research Laboratory, Ground, MD, USA","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006670763","display_name":"A.A. Schy J.W. Young","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Austin Young","raw_affiliation_strings":["University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073886799","display_name":"Ronald S. Fearing","orcid":"https://orcid.org/0000-0001-6242-5379"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ronald S. Fearing","raw_affiliation_strings":["University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006243281","display_name":"Robert J. Full","orcid":"https://orcid.org/0000-0001-8435-5279"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Full","raw_affiliation_strings":["University of California Berkeley, Berkeley, CA, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California Berkeley, Berkeley, CA, US","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2933,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.92566022,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2128","last_page":"2134"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9987000226974487,"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":0.9987000226974487,"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":0.9775999784469604,"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":0.9732000231742859,"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/cockroach","display_name":"Cockroach","score":0.71240234375},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.609214723110199},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.482584148645401},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35305455327033997},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.2323055863380432},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23020008206367493},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.17501422762870789}],"concepts":[{"id":"https://openalex.org/C2777346155","wikidata":"https://www.wikidata.org/wiki/Q18123008","display_name":"Cockroach","level":2,"score":0.71240234375},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.609214723110199},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.482584148645401},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35305455327033997},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.2323055863380432},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23020008206367493},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.17501422762870789},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759334","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1532360000","https://openalex.org/W1533162636","https://openalex.org/W1546339318","https://openalex.org/W1666853850","https://openalex.org/W1822001265","https://openalex.org/W1905403358","https://openalex.org/W1964168076","https://openalex.org/W1974461875","https://openalex.org/W1990038625","https://openalex.org/W1998481308","https://openalex.org/W2018887741","https://openalex.org/W2024084391","https://openalex.org/W2039813203","https://openalex.org/W2057662595","https://openalex.org/W2062555037","https://openalex.org/W2066240753","https://openalex.org/W2093937828","https://openalex.org/W2106533942","https://openalex.org/W2109490168","https://openalex.org/W2110301612","https://openalex.org/W2112978907","https://openalex.org/W2121666081","https://openalex.org/W2122989592","https://openalex.org/W2125933031","https://openalex.org/W2126677924","https://openalex.org/W2131558485","https://openalex.org/W2135572107","https://openalex.org/W2146895111","https://openalex.org/W2152735424","https://openalex.org/W2153104441","https://openalex.org/W2155665102","https://openalex.org/W2164446354","https://openalex.org/W2164963091","https://openalex.org/W2279369962","https://openalex.org/W2599452774","https://openalex.org/W3100472504","https://openalex.org/W6636931642","https://openalex.org/W6677908636"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2384509840","https://openalex.org/W2394455033","https://openalex.org/W2086349641","https://openalex.org/W2375193545","https://openalex.org/W2357620500","https://openalex.org/W2163419760","https://openalex.org/W2365069598"],"abstract_inverted_index":{"Animals":[0],"and":[1,81,86,94,146,155],"robots":[2,29,103],"alike":[3],"face":[4],"challenges":[5],"of":[6,34,74,88,107],"flipping-over":[7],"as":[8],"they":[9],"move":[10],"in":[11,114],"complex":[12],"terrain.":[13],"Small":[14],"insects":[15],"like":[16],"cockroaches":[17],"can":[18,104],"rapidly":[19],"right":[20],"themselves":[21],"when":[22],"upside":[23],"down,":[24],"yet":[25],"small":[26],"fast-running":[27],"legged":[28],"are":[30],"much":[31],"less":[32],"capable":[33],"ground-based":[35],"self-righting.":[36],"Inspired":[37],"by":[38,143,152],"the":[39,49,71,84,134],"discoid":[40],"cockroach":[41],"that":[42,102,133,161],"opens":[43],"its":[44],"wings":[45,56,164],"to":[46,51,120,126],"push":[47],"against":[48],"ground":[50],"self-right,":[52],"we":[53],"designed":[54],"actuated":[55,79,118],"for":[57,65],"robot":[58,76,135],"self-righting":[59,72],"based":[60],"on":[61],"recently-developed":[62],"rounded":[63],"shells":[64],"obstacle":[66],"traversal":[67],"[1].":[68],"We":[69],"measured":[70],"performance":[73],"a":[75,100],"using":[77],"these":[78],"wings,":[80],"systematically":[82],"studied":[83],"effects":[85],"trade-offs":[87],"wing":[89,95,140,171],"opening":[90,162,172],"magnitude,":[91],"speed,":[92],"symmetry,":[93],"geometry.":[96],"Our":[97,130,157],"study":[98],"provided":[99],"proof-of-concept":[101],"take":[105],"advantage":[106],"an":[108],"existing":[109],"body":[110],"structure":[111],"(rounded":[112],"shell)":[113],"novel":[115],"ways":[116],"(as":[117],"wings)":[119],"serve":[121],"new":[122],"locomotor":[123],"functions,":[124],"analogous":[125],"biological":[127],"exaptations":[128],"[2].":[129],"results":[131],"demonstrated":[132],"self-rights":[136],"dynamically,":[137],"with":[138],"active":[139],"pushing":[141,153],"followed":[142],"passive":[144],"falling,":[145],"benefits":[147],"from":[148],"increasing":[149],"kinetic":[150],"energy":[151],"faster":[154],"longer.":[156],"experiments":[158],"also":[159],"showed":[160],"both":[163],"asymmetrically":[165],"increases":[166],"righting":[167],"probability":[168],"at":[169],"low":[170],"magnitudes.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
