{"id":"https://openalex.org/W2964182442","doi":"https://doi.org/10.1109/lra.2019.2931177","title":"Bee + : A 95-mg Four-Winged Insect-Scale Flying Robot Driven by Twinned Unimorph Actuators","display_name":"Bee + : A 95-mg Four-Winged Insect-Scale Flying Robot Driven by Twinned Unimorph Actuators","publication_year":2019,"publication_date":"2019-07-25","ids":{"openalex":"https://openalex.org/W2964182442","doi":"https://doi.org/10.1109/lra.2019.2931177","mag":"2964182442"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2931177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2931177","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5063547398","display_name":"Xiufeng Yang","orcid":"https://orcid.org/0000-0002-0726-483X"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiufeng Yang","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0726-483X","affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101431917","display_name":"Ying Chen","orcid":"https://orcid.org/0000-0003-1132-7183"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ying Chen","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-1132-7183","affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069337861","display_name":"Longlong Chang","orcid":"https://orcid.org/0000-0003-2315-0274"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Longlong Chang","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-2315-0274","affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010412154","display_name":"Ariel A. Calder\u00f3n","orcid":"https://orcid.org/0000-0002-7854-6543"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ariel A. Calderon","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7854-6543","affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005985240","display_name":"N\u00e9stor O. P\u00e9rez-Arancibia","orcid":"https://orcid.org/0000-0003-2160-8288"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nestor O. Perez-Arancibia","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-2160-8288","affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":56.4903,"has_fulltext":false,"cited_by_count":70,"citation_normalized_percentile":{"value":0.99666404,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"4","issue":"4","first_page":"4270","last_page":"4277"},"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":0.9993000030517578,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9896000027656555,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/unimorph","display_name":"Unimorph","score":0.9315255880355835},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5758759379386902},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.5534845590591431},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4805367588996887},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46567508578300476},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.43818292021751404},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.35313838720321655},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.330106258392334},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3152633309364319},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2226753532886505}],"concepts":[{"id":"https://openalex.org/C2779055265","wikidata":"https://www.wikidata.org/wiki/Q7885234","display_name":"Unimorph","level":3,"score":0.9315255880355835},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5758759379386902},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.5534845590591431},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4805367588996887},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46567508578300476},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.43818292021751404},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.35313838720321655},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.330106258392334},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3152633309364319},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2226753532886505},{"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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2019.2931177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2931177","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.46000000834465027,"display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G6376609410","display_name":null,"funder_award_id":"NRI Award\u00a01528110","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1964268471","https://openalex.org/W2004717812","https://openalex.org/W2030864956","https://openalex.org/W2032139169","https://openalex.org/W2035155402","https://openalex.org/W2057960295","https://openalex.org/W2068612708","https://openalex.org/W2098055994","https://openalex.org/W2138534952","https://openalex.org/W2151794017","https://openalex.org/W2158519127","https://openalex.org/W2198804214","https://openalex.org/W2312416333","https://openalex.org/W2394925491","https://openalex.org/W2414118066","https://openalex.org/W2735136148","https://openalex.org/W2809986992","https://openalex.org/W2891415120","https://openalex.org/W2908633185","https://openalex.org/W2908686907","https://openalex.org/W2910457895"],"related_works":["https://openalex.org/W184456770","https://openalex.org/W2056088825","https://openalex.org/W2038255975","https://openalex.org/W2123932274","https://openalex.org/W2789726182","https://openalex.org/W2267964211","https://openalex.org/W2155005080","https://openalex.org/W2128044771","https://openalex.org/W2529034204","https://openalex.org/W2502038055"],"abstract_inverted_index":{"We":[0],"introduce":[1],"Bee+,":[2],"a":[3,62,210],"95-mg":[4],"four-winged":[5],"microrobot":[6],"with":[7,13,22],"improved":[8],"controllability":[9],"and":[10,26,123,201],"open-loop-response":[11],"characteristics":[12],"respect":[14],"to":[15,80,95,106,157,169],"those":[16,81,158,194],"exhibited":[17],"by":[18,87],"state-of-the-art":[19],"two-winged":[20,83,140,197],"microrobots":[21],"the":[23,30,40,45,59,76,89,97,128,134,144,149,152,163,176,184,196,205],"same":[24],"size":[25],"similar":[27],"weight":[28],"(i.e.,":[29],"75-mg":[31],"Harvard":[32],"RoboBee).":[33],"The":[34,199],"key":[35],"innovation":[36],"that":[37,66,86,119,131,174],"made":[38],"possible":[39],"development":[41],"of":[42,47,53,61,75,82,91,99,117,137,139,151,159,187,195,204,212],"Bee+":[43],"is":[44,85],"introduction":[46],"an":[48],"extremely":[49],"light":[50],"(28-mg)":[51],"pair":[52],"twinned":[54],"unimorph":[55,164],"actuators,":[56],"which":[57],"enabled":[58],"design":[60,146],"new":[63],"microrobotic":[64],"mechanism":[65],"flaps":[67],"four":[68,107],"wings":[69],"independently.":[70],"A":[71,114],"first":[72],"main":[73],"advantage":[74,116],"proposed":[77,145],"design,":[78],"compared":[79,156],"flyers,":[84],"increasing":[88],"number":[90,98],"actuators":[92,165],"from":[93,104],"two":[94],"four,":[96],"direct":[100],"control":[101,214],"inputs":[102],"increases":[103],"three":[105],"when":[108],"simple":[109,213],"sinusoidal":[110],"excitations":[111],"are":[112,166,207],"employed.":[113],"second":[115],"Bee+is":[118],"its":[120],"four-wing":[121],"configuration":[122],"flapping":[124,182],"mode":[125],"naturally":[126],"damp":[127],"rotational":[129],"disturbances":[130],"commonly":[132],"affect":[133],"yaw":[135],"degree":[136],"freedom":[138],"microrobots.":[141],"In":[142],"addition,":[143],"greatly":[147],"reduces":[148],"complexity":[150],"associated":[153],"fabrication":[154],"process":[155],"other":[160],"microrobots,":[161],"as":[162],"fairly":[167],"easy":[168],"build.":[170],"Finally,":[171],"we":[172],"hypothesize":[173],"given":[175],"relatively":[177],"low":[178],"wingloading":[179],"affecting":[180],"their":[181],"mechanisms,":[183],"life":[185],"expectancy":[186],"Bee+s":[188],"must":[189],"be":[190],"considerably":[191],"higher":[192],"than":[193],"counterparts.":[198],"functionality":[200],"basic":[202],"capabilities":[203],"robot":[206],"demonstrated":[208],"through":[209],"set":[211],"experiments.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":2}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}