{"id":"https://openalex.org/W3183547860","doi":"https://doi.org/10.1109/lra.2021.3099246","title":"Crawl and Fly: A Bio-Inspired Robot Utilizing Unified Actuation for Hybrid Aerial-Terrestrial Locomotion","display_name":"Crawl and Fly: A Bio-Inspired Robot Utilizing Unified Actuation for Hybrid Aerial-Terrestrial Locomotion","publication_year":2021,"publication_date":"2021-07-26","ids":{"openalex":"https://openalex.org/W3183547860","doi":"https://doi.org/10.1109/lra.2021.3099246","mag":"3183547860"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3099246","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3099246","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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/A5075366657","display_name":"Zhan Tu","orcid":"https://orcid.org/0000-0001-7482-1555"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhan Tu","raw_affiliation_strings":["Institute of Unmanned System, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7482-1555","affiliations":[{"raw_affiliation_string":"Institute of Unmanned System, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103987549","display_name":"Christopher Hui","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher Hui","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002758839","display_name":"Limeng Liu","orcid":"https://orcid.org/0000-0001-9781-5465"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Limeng Liu","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA"],"raw_orcid":"https://orcid.org/0000-0001-9781-5465","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110862896","display_name":"Yiming Zhou","orcid":"https://orcid.org/0000-0002-5754-969X"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yiming Zhou","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055628458","display_name":"Daniel R. Romano","orcid":"https://orcid.org/0000-0003-1931-0722"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel R. Romano","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112401035","display_name":"Xinyan Deng","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xinyan Deng","raw_affiliation_strings":["School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA"],"raw_orcid":"https://orcid.org/0000-0002-2584-6251","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.8876,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.97385115,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"6","issue":"4","first_page":"7549","last_page":"7556"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9941999912261963,"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/crawling","display_name":"Crawling","score":0.890414834022522},{"id":"https://openalex.org/keywords/terrestrial-locomotion","display_name":"Terrestrial locomotion","score":0.8131140470504761},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7883572578430176},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.607248842716217},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.6011617183685303},{"id":"https://openalex.org/keywords/flapping","display_name":"Flapping","score":0.5817579627037048},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4801146984100342},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41766345500946045},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40249234437942505},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38688740134239197},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32290932536125183},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27101123332977295},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.27035456895828247},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.243668794631958},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.19774264097213745},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.11156275868415833}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.890414834022522},{"id":"https://openalex.org/C532751654","wikidata":"https://www.wikidata.org/wiki/Q2535935","display_name":"Terrestrial locomotion","level":2,"score":0.8131140470504761},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7883572578430176},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.607248842716217},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.6011617183685303},{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.5817579627037048},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4801146984100342},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41766345500946045},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40249234437942505},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38688740134239197},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32290932536125183},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27101123332977295},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.27035456895828247},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.243668794631958},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.19774264097213745},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.11156275868415833},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3099246","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3099246","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1964302760","https://openalex.org/W1998239814","https://openalex.org/W2032139169","https://openalex.org/W2048719285","https://openalex.org/W2072128224","https://openalex.org/W2097356896","https://openalex.org/W2585024272","https://openalex.org/W2765248538","https://openalex.org/W2910341846","https://openalex.org/W2910757554","https://openalex.org/W2910924372","https://openalex.org/W2951728963","https://openalex.org/W3007998343","https://openalex.org/W3029181978"],"related_works":["https://openalex.org/W2942196653","https://openalex.org/W1972877171","https://openalex.org/W2998506550","https://openalex.org/W2188053476","https://openalex.org/W2599193808","https://openalex.org/W92979448","https://openalex.org/W2321283884","https://openalex.org/W2169712669","https://openalex.org/W2557423663","https://openalex.org/W2031938550"],"abstract_inverted_index":{"This":[0],"letter":[1],"details":[2],"the":[3,26,37,50,59,70,85,113,116,123,133,137,142,153,172,176,179],"design":[4,129],"and":[5,32,106,147,166],"validation":[6],"of":[7,22,61,89,98,115,136,155,159,175],"a":[8,15,74,95],"legged":[9],"terrestrial":[10,96,148],"locomotion":[11,47,104,149,186],"system":[12,48],"integrated":[13],"onto":[14],"hummingbird-scale":[16],"flapping":[17],"wing":[18],"robot.":[19],"Two":[20],"pairs":[21,158],"legs":[23,160],"powered":[24],"by":[25],"flight":[27,134,177],"actuators":[28],"allow":[29],"forward,":[30],"reverse,":[31],"steering":[33],"motions":[34],"while":[35],"on":[36,171],"ground.":[38],"Through":[39],"controlled":[40],"sinusoidal":[41],"drive":[42],"signals,":[43],"this":[44],"mechanically":[45],"simple":[46],"allows":[49],"robot":[51,86,117,138,145,180],"to":[52,69,76,122],"crawl":[53],"through":[54,63],"small":[55],"gaps":[56],"about":[57],"half":[58],"height":[60],"spaces":[62],"which":[64],"it":[65,110],"could":[66],"fly":[67],"thanks":[68],"robot's":[71],"transition":[72],"from":[73,141,162],"vertical":[75],"horizontal":[77],"orientation":[78],"when":[79],"crawling.":[80],"On":[81],"smooth":[82,190],"hard":[83],"surfaces,":[84],"is":[87,131,150],"capable":[88],"crawling":[90],"at":[91],"100":[92],"mm/s.":[93],"Gaining":[94],"mode":[97],"movement":[99],"not":[100],"only":[101],"expands":[102],"its":[103],"strategies":[105],"environmental":[107],"adaptability,":[108],"but":[109],"also":[111],"improves":[112],"endurance":[114],"in":[118],"particular":[119],"missions":[120],"due":[121],"low":[124],"power":[125],"consumption.":[126],"A":[127],"unique":[128],"principle":[130],"that":[132],"components":[135],"are":[139],"unchanged":[140],"original":[143],"aerial":[144],"design,":[146],"realized":[151],"with":[152],"addition":[154],"two":[156],"capstan-interlinked":[157],"constructed":[161],"3D":[163],"printed":[164],"plastic":[165],"carbon":[167],"fiber":[168],"rods.":[169],"Based":[170],"dual":[173],"use":[174],"actuators,":[178],"experimentally":[181],"demonstrated":[182],"sustained":[183],"hybrid":[184],"aerial-terrestrial":[185],"as":[187,189],"well":[188],"crawl-to-fly":[191],"transition.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
