{"id":"https://openalex.org/W2988102399","doi":"https://doi.org/10.1109/lra.2020.2990886","title":"Design of an Electromagnetic Actuator for an Insect-Scale Spinning-Wing Robot","display_name":"Design of an Electromagnetic Actuator for an Insect-Scale Spinning-Wing Robot","publication_year":2020,"publication_date":"2020-04-27","ids":{"openalex":"https://openalex.org/W2988102399","doi":"https://doi.org/10.1109/lra.2020.2990886","mag":"2988102399"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2990886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2990886","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1911.06947","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Palak Bhushan","orcid":"https://orcid.org/0000-0001-7473-382X"},"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":"Palak Bhushan","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, UC Berkeley, Berkeley, USA"],"raw_orcid":"https://orcid.org/0000-0001-7473-382X","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, UC Berkeley, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":null,"display_name":"Claire Tomlin","orcid":"https://orcid.org/0000-0003-3192-3185"},"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":"Claire Tomlin","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, UC Berkeley, Berkeley, USA"],"raw_orcid":"https://orcid.org/0000-0003-3192-3185","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, UC Berkeley, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":11.8943,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.97762881,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"5","issue":"3","first_page":"4188","last_page":"4193"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9606999754905701,"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":0.9606999754905701,"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":0.028599999845027924,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.0017999999690800905,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5760999917984009},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.5623999834060669},{"id":"https://openalex.org/keywords/resistive-touchscreen","display_name":"Resistive touchscreen","score":0.5561000108718872},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.48510000109672546},{"id":"https://openalex.org/keywords/spinning","display_name":"Spinning","score":0.4674000144004822},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.4537999927997589},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.44850000739097595},{"id":"https://openalex.org/keywords/flapping","display_name":"Flapping","score":0.382999986410141}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5760999917984009},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.5623999834060669},{"id":"https://openalex.org/C6899612","wikidata":"https://www.wikidata.org/wiki/Q852911","display_name":"Resistive touchscreen","level":2,"score":0.5561000108718872},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4997999966144562},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.48510000109672546},{"id":"https://openalex.org/C154815118","wikidata":"https://www.wikidata.org/wiki/Q453762","display_name":"Spinning","level":2,"score":0.4674000144004822},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.4625000059604645},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.4537999927997589},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.44850000739097595},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4185999929904938},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.41370001435279846},{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.382999986410141},{"id":"https://openalex.org/C117926987","wikidata":"https://www.wikidata.org/wiki/Q210009","display_name":"Joule heating","level":2,"score":0.37070000171661377},{"id":"https://openalex.org/C17733824","wikidata":"https://www.wikidata.org/wiki/Q245097","display_name":"Wingspan","level":3,"score":0.34139999747276306},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3357999920845032},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3253999948501587},{"id":"https://openalex.org/C2779058145","wikidata":"https://www.wikidata.org/wiki/Q6294583","display_name":"Joule (programming language)","level":3,"score":0.3228999972343445},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.30410000681877136},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2994999885559082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2971999943256378},{"id":"https://openalex.org/C2779585191","wikidata":"https://www.wikidata.org/wiki/Q1324102","display_name":"Counterweight","level":2,"score":0.2922999858856201},{"id":"https://openalex.org/C2778753569","wikidata":"https://www.wikidata.org/wiki/Q1960395","display_name":"Span (engineering)","level":2,"score":0.28839999437332153},{"id":"https://openalex.org/C107240024","wikidata":"https://www.wikidata.org/wiki/Q184550","display_name":"Mechanical energy","level":3,"score":0.2831999957561493},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.2990886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2990886","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"},{"id":"pmh:oai:arXiv.org:1911.06947","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1911.06947","pdf_url":"https://arxiv.org/pdf/1911.06947","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1911.06947","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1911.06947","pdf_url":"https://arxiv.org/pdf/1911.06947","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G233385737","display_name":null,"funder_award_id":"#N00014-16-1-2206","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G4115178427","display_name":null,"funder_award_id":"IIID-2016-005","funder_id":"https://openalex.org/F4320324072","funder_display_name":"Commission on Higher Education"}],"funders":[{"id":"https://openalex.org/F4320324072","display_name":"Commission on Higher Education","ror":"https://ror.org/04s346m05"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1969183316","https://openalex.org/W2014192334","https://openalex.org/W2052319034","https://openalex.org/W2096488466","https://openalex.org/W2118361218","https://openalex.org/W2151326957","https://openalex.org/W2288785195","https://openalex.org/W2341577751","https://openalex.org/W2510508197","https://openalex.org/W2809691164","https://openalex.org/W2910288774","https://openalex.org/W2955102412","https://openalex.org/W2964381791","https://openalex.org/W2967611759","https://openalex.org/W6733715252"],"related_works":[],"abstract_inverted_index":{"Here":[0],"we":[1],"present":[2],"the":[3,87,103,127,134],"design":[4],"of":[5,50,67,74,98,118],"an":[6],"insect-scale":[7],"electromagnetic":[8],"actuator":[9],"that":[10],"can":[11],"be":[12],"used":[13],"to":[14,27,41],"spin":[15],"wings":[16,40,60],"and":[17,53,77,105],"generate":[18],"lift.":[19,43],"This":[20],"lift":[21,68],"generation":[22],"method":[23],"is":[24,93,108,123],"in":[25,110],"contrast":[26],"most":[28],"other":[29],"microrobot":[30],"designs":[31],"at":[32,61,79,124,133],"this":[33],"size":[34],"scale":[35],"which":[36,99],"rely":[37],"on":[38],"flapping":[39,130],"produce":[42],"The":[44],"device":[45],"has":[46],"a":[47,80,115],"wing":[48,131],"span":[49],"4":[51],"centimeters":[52],"weighs":[54],"133":[55],"milligrams.":[56],"It":[57],"spins":[58],"its":[59,121],"47":[62],"revolutions/second":[63],"generating":[64],">138":[65],"milligrams":[66],"while":[69],"consuming":[70],"approximately":[71],"60":[72],"milliwatts":[73,92,107],"total":[75,88],"power":[76,89,95],"operating":[78],"low":[81],"voltage":[82],"(<;":[83],"3":[84],"V).":[85],"Of":[86],"consumed":[90],"8.8":[91],"mechanical":[94],"generated,":[96],"part":[97],"goes":[100],"towards":[101],"spinning":[102],"wings,":[104],"51":[106],"wasted":[109],"resistive":[111],"Joule":[112],"heating.":[113],"With":[114],"lift-to-power":[116],"ratio":[117],"2.3":[119],"grams/W,":[120],"performance":[122],"par":[125],"with":[126],"best":[128],"reported":[129],"devices":[132],"insect-scale.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2019-11-22T00:00:00"}
