{"id":"https://openalex.org/W4366722849","doi":"https://doi.org/10.1109/lra.2023.3269319","title":"Takeoff of a 2.1\u2009g Fully Untethered Tailless Flapping-Wing Micro Aerial Vehicle With Integrated Battery","display_name":"Takeoff of a 2.1\u2009g Fully Untethered Tailless Flapping-Wing Micro Aerial Vehicle With Integrated Battery","publication_year":2023,"publication_date":"2023-04-21","ids":{"openalex":"https://openalex.org/W4366722849","doi":"https://doi.org/10.1109/lra.2023.3269319"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3269319","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3269319","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10106430.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10106430.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029627891","display_name":"Takashi Ozaki","orcid":"https://orcid.org/0000-0001-5821-3330"},"institutions":[{"id":"https://openalex.org/I4210165351","display_name":"Toyota Central Research and Development Laboratories (Japan)","ror":"https://ror.org/05mjgqe69","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210165351"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takashi Ozaki","raw_affiliation_strings":["Frontier Research Domain, Toyota Central R&D Labs. Inc., Aichi, Japan"],"raw_orcid":"https://orcid.org/0000-0001-5821-3330","affiliations":[{"raw_affiliation_string":"Frontier Research Domain, Toyota Central R&D Labs. Inc., Aichi, Japan","institution_ids":["https://openalex.org/I4210165351"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067001821","display_name":"Norikazu Ohta","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165351","display_name":"Toyota Central Research and Development Laboratories (Japan)","ror":"https://ror.org/05mjgqe69","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210165351"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Norikazu Ohta","raw_affiliation_strings":["Frontier Research Domain, Toyota Central R&D Labs. Inc., Aichi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Frontier Research Domain, Toyota Central R&D Labs. Inc., Aichi, Japan","institution_ids":["https://openalex.org/I4210165351"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066055821","display_name":"T. Jimbo","orcid":"https://orcid.org/0000-0001-6863-4868"},"institutions":[{"id":"https://openalex.org/I4210165351","display_name":"Toyota Central Research and Development Laboratories (Japan)","ror":"https://ror.org/05mjgqe69","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210165351"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomohiko Jimbo","raw_affiliation_strings":["Cloud Infomatics Research Domain, Toyota Central R&D Labs. Inc., Aichi, Japan"],"raw_orcid":"https://orcid.org/0000-0001-6863-4868","affiliations":[{"raw_affiliation_string":"Cloud Infomatics Research Domain, Toyota Central R&D Labs. Inc., Aichi, Japan","institution_ids":["https://openalex.org/I4210165351"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003527518","display_name":"Kanae Hamaguchi","orcid":"https://orcid.org/0000-0002-9724-8509"},"institutions":[{"id":"https://openalex.org/I4210165351","display_name":"Toyota Central Research and Development Laboratories (Japan)","ror":"https://ror.org/05mjgqe69","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210165351"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kanae Hamaguchi","raw_affiliation_strings":["Frontier Research Domain, Toyota Central R&D Labs. Inc., Aichi, Japan"],"raw_orcid":"https://orcid.org/0000-0002-9724-8509","affiliations":[{"raw_affiliation_string":"Frontier Research Domain, Toyota Central R&D Labs. Inc., Aichi, Japan","institution_ids":["https://openalex.org/I4210165351"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210165351"],"apc_list":null,"apc_paid":null,"fwci":16.5849,"has_fulltext":true,"cited_by_count":24,"citation_normalized_percentile":{"value":0.98677646,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"8","issue":"6","first_page":"3574","last_page":"3580"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9866999983787537,"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"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9855999946594238,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/takeoff","display_name":"Takeoff","score":0.6647350192070007},{"id":"https://openalex.org/keywords/battery","display_name":"Battery (electricity)","score":0.6594070792198181},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.5869878530502319},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5526061654090881},{"id":"https://openalex.org/keywords/flapping","display_name":"Flapping","score":0.5461586117744446},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.5120170712471008},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.4894918203353882},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.46667635440826416},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.4307503402233124},{"id":"https://openalex.org/keywords/micro-air-vehicle","display_name":"Micro air vehicle","score":0.42275458574295044},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.3087788224220276},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.13184446096420288},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07396790385246277}],"concepts":[{"id":"https://openalex.org/C2777717826","wikidata":"https://www.wikidata.org/wiki/Q854248","display_name":"Takeoff","level":2,"score":0.6647350192070007},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.6594070792198181},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.5869878530502319},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5526061654090881},{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.5461586117744446},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.5120170712471008},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.4894918203353882},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.46667635440826416},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.4307503402233124},{"id":"https://openalex.org/C2776798255","wikidata":"https://www.wikidata.org/wiki/Q773392","display_name":"Micro air vehicle","level":3,"score":0.42275458574295044},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.3087788224220276},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.13184446096420288},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07396790385246277},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3269319","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3269319","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10106430.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2023.3269319","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3269319","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10106430.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8799999952316284}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4366722849.pdf","grobid_xml":"https://content.openalex.org/works/W4366722849.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W1933607717","https://openalex.org/W1964200944","https://openalex.org/W2035155402","https://openalex.org/W2114338873","https://openalex.org/W2171695274","https://openalex.org/W2329824708","https://openalex.org/W2416688131","https://openalex.org/W2592088798","https://openalex.org/W2792317026","https://openalex.org/W2887472794","https://openalex.org/W2889774534","https://openalex.org/W2891415120","https://openalex.org/W2955102412","https://openalex.org/W2987068209","https://openalex.org/W3033792074","https://openalex.org/W3045212137","https://openalex.org/W3154401348","https://openalex.org/W3216776138","https://openalex.org/W4251686718"],"related_works":["https://openalex.org/W2376844918","https://openalex.org/W1970032862","https://openalex.org/W4386494059","https://openalex.org/W2945493325","https://openalex.org/W209553505","https://openalex.org/W2015457592","https://openalex.org/W2624852988","https://openalex.org/W3183854082","https://openalex.org/W2972082501","https://openalex.org/W2624160634"],"abstract_inverted_index":{"Insect-scale":[0],"micro-aerial":[1],"vehicles":[2],"(MAV)":[3],"are":[4],"becoming":[5],"increasingly":[6],"important":[7],"for":[8,51,70,102],"sensing":[9],"and":[10,23,65,73,100],"mapping":[11],"spatially":[12],"constrained":[13],"environments.":[14],"However,":[15],"achieving":[16],"untethered":[17,38],"flight":[18],"powered":[19,44],"by":[20,45],"a":[21,29,41,46,52,60,87,108,135],"small":[22],"lightweight":[24],"on-board":[25],"energy":[26],"source":[27],"remains":[28],"challenge.":[30],"In":[31],"this":[32,76,130],"study,":[33],"we":[34],"successfully":[35],"demonstrated":[36],"the":[37,121,131],"takeoff":[39],"of":[40,83,89,111,134],"flapping-wing":[42,125,138],"MAV":[43,106,126,139],"commercially":[47],"available":[48],"LiPo":[49],"battery":[50],"short":[53],"duration":[54],"without":[55],"stability":[56],"control.":[57],"By":[58],"incorporating":[59],"high-efficiency":[61],"direct-drive":[62],"piezoelectric":[63],"actuator,":[64],"an":[66,116],"optimized":[67],"control":[68],"circuit":[69],"high-impedance-width":[71],"modulation":[72],"charge":[74],"recovery,":[75],"electronics":[77],"configuration":[78],"realizes":[79],"over":[80],"5":[81],"min":[82],"practical":[84],"operation":[85],"with":[86,140],"thrust":[88],"1.5":[90],"times":[91],"its":[92],"own":[93],"weight,":[94],"while":[95],"offering":[96],"wireless":[97],"communication":[98],"capability":[99],"sensors":[101],"attitude":[103],"estimation.":[104],"Our":[105],"has":[107],"total":[109],"mass":[110],"2.1":[112],"g,":[113],"which":[114],"is":[115],"eight-fold":[117],"reduction":[118],"compared":[119],"to":[120],"lightest":[122],"battery-powered":[123,136],"tailless":[124,137],"currently":[127],"available,":[128],"making":[129],"first":[132],"report":[133],"insect-scale":[141],"weight.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":7}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}