{"id":"https://openalex.org/W2097452465","doi":"https://doi.org/10.1109/robio.2009.4913006","title":"Motion analysis of butterfly-style flapping robot for different wing and body design","display_name":"Motion analysis of butterfly-style flapping robot for different wing and body design","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2097452465","doi":"https://doi.org/10.1109/robio.2009.4913006","mag":"2097452465"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.4913006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913006","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-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/A5065236765","display_name":"Taro Fujikawa","orcid":"https://orcid.org/0000-0002-3251-9080"},"institutions":[{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"T. Fujikawa","raw_affiliation_strings":["Department of Mechanical Science and Engineering, Chiba Institute of Technology, Narashino, Chiba, Japan","Department of Mechanical Science and Engineering, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino 275-0016 (Japan)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Science and Engineering, Chiba Institute of Technology, Narashino, Chiba, Japan","institution_ids":["https://openalex.org/I8488066"]},{"raw_affiliation_string":"Department of Mechanical Science and Engineering, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino 275-0016 (Japan)","institution_ids":["https://openalex.org/I8488066"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050203061","display_name":"Yoshinori Sato","orcid":"https://orcid.org/0000-0002-2862-7708"},"institutions":[{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Sato","raw_affiliation_strings":["Department of Mechanical Science and Engineering, Chiba Institute of Technology, Narashino, Chiba, Japan","Department of Mechanical Science and Engineering, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino 275-0016 (Japan)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Science and Engineering, Chiba Institute of Technology, Narashino, Chiba, Japan","institution_ids":["https://openalex.org/I8488066"]},{"raw_affiliation_string":"Department of Mechanical Science and Engineering, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino 275-0016 (Japan)","institution_ids":["https://openalex.org/I8488066"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044702874","display_name":"Yusuke MAKATA","orcid":null},"institutions":[{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Makata","raw_affiliation_strings":["Department of Mechanical Science and Engineering, Chiba Institute of Technology, Narashino, Chiba, Japan","Department of Mechanical Science and Engineering, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino 275-0016 (Japan)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Science and Engineering, Chiba Institute of Technology, Narashino, Chiba, Japan","institution_ids":["https://openalex.org/I8488066"]},{"raw_affiliation_string":"Department of Mechanical Science and Engineering, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino 275-0016 (Japan)","institution_ids":["https://openalex.org/I8488066"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057453898","display_name":"Tatsuhiko Yamashita","orcid":null},"institutions":[{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Yamashita","raw_affiliation_strings":["Department of Mechanical Science and Engineering, Chiba Institute of Technology, Narashino, Chiba, Japan","Department of Mechanical Science and Engineering, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino 275-0016 (Japan)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Science and Engineering, Chiba Institute of Technology, Narashino, Chiba, Japan","institution_ids":["https://openalex.org/I8488066"]},{"raw_affiliation_string":"Department of Mechanical Science and Engineering, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino 275-0016 (Japan)","institution_ids":["https://openalex.org/I8488066"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045188438","display_name":"Koki KIKUCHI","orcid":"https://orcid.org/0009-0000-4549-1251"},"institutions":[{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Kikuchi","raw_affiliation_strings":["Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba, Japan","Dept. of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, 275-0016, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba, Japan","institution_ids":["https://openalex.org/I8488066"]},{"raw_affiliation_string":"Dept. of Advanced Robotics, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, 275-0016, Japan","institution_ids":["https://openalex.org/I8488066"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5065236765"],"corresponding_institution_ids":["https://openalex.org/I8488066"],"apc_list":null,"apc_paid":null,"fwci":0.8496,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.7994806,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"216","last_page":"221"},"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/T10302","display_name":"Fish Ecology and Management Studies","score":0.982200026512146,"subfield":{"id":"https://openalex.org/subfields/2309","display_name":"Nature and Landscape Conservation"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12014","display_name":"Fish biology, ecology, and behavior","score":0.9559000134468079,"subfield":{"id":"https://openalex.org/subfields/2309","display_name":"Nature and Landscape Conservation"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/flapping","display_name":"Flapping","score":0.8675726056098938},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.8236417770385742},{"id":"https://openalex.org/keywords/wing-twist","display_name":"Wing twist","score":0.6630792617797852},{"id":"https://openalex.org/keywords/wing-loading","display_name":"Wing loading","score":0.5719442963600159},{"id":"https://openalex.org/keywords/butterfly","display_name":"Butterfly","score":0.5524126291275024},{"id":"https://openalex.org/keywords/pitch-angle","display_name":"Pitch angle","score":0.5156773328781128},{"id":"https://openalex.org/keywords/angle-of-attack","display_name":"Angle of attack","score":0.4804082214832306},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.4606713056564331},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.45528683066368103},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.42863672971725464},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.4180905222892761},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.4038207530975342},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.3483227491378784},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.28218770027160645},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22903773188591003},{"id":"https://openalex.org/keywords/astronomy","display_name":"Astronomy","score":0.06857821345329285}],"concepts":[{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.8675726056098938},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.8236417770385742},{"id":"https://openalex.org/C137990359","wikidata":"https://www.wikidata.org/wiki/Q1120746","display_name":"Wing twist","level":4,"score":0.6630792617797852},{"id":"https://openalex.org/C107779570","wikidata":"https://www.wikidata.org/wiki/Q887216","display_name":"Wing loading","level":4,"score":0.5719442963600159},{"id":"https://openalex.org/C2778605236","wikidata":"https://www.wikidata.org/wiki/Q1018085","display_name":"Butterfly","level":2,"score":0.5524126291275024},{"id":"https://openalex.org/C2777581452","wikidata":"https://www.wikidata.org/wiki/Q4363928","display_name":"Pitch angle","level":2,"score":0.5156773328781128},{"id":"https://openalex.org/C527307","wikidata":"https://www.wikidata.org/wiki/Q370906","display_name":"Angle of attack","level":3,"score":0.4804082214832306},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.4606713056564331},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.45528683066368103},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.42863672971725464},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.4180905222892761},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.4038207530975342},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.3483227491378784},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.28218770027160645},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22903773188591003},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.06857821345329285},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.4913006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913006","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.5,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W22610112","https://openalex.org/W1494868626","https://openalex.org/W1963553765","https://openalex.org/W1963636759","https://openalex.org/W1973078635","https://openalex.org/W1986415728","https://openalex.org/W1987996887","https://openalex.org/W2004717812","https://openalex.org/W2098055994","https://openalex.org/W2103202515","https://openalex.org/W2107282614","https://openalex.org/W2115335960","https://openalex.org/W2123932274","https://openalex.org/W2124012251","https://openalex.org/W2125963820","https://openalex.org/W2136556526","https://openalex.org/W2148180619","https://openalex.org/W2148970654","https://openalex.org/W2158532293","https://openalex.org/W6629452192","https://openalex.org/W6680265790"],"related_works":["https://openalex.org/W2186948278","https://openalex.org/W2079528070","https://openalex.org/W2147883833","https://openalex.org/W1634574866","https://openalex.org/W1978110964","https://openalex.org/W2382490629","https://openalex.org/W3120822161","https://openalex.org/W2566986370","https://openalex.org/W2323700552","https://openalex.org/W2335391050"],"abstract_inverted_index":{"In":[0],"this":[1],"study,":[2],"we":[3],"manufactured":[4],"small":[5],"butterfly-style":[6,32,145],"flapping":[7,33,66,74],"robots":[8],"with":[9,115,132],"wing":[10,24,96,118,135],"veins":[11],"and":[12,26,71,98,106,111,123,140],"investigated":[13],"their":[14],"flight":[15],"characteristics":[16],"for":[17,144],"different":[18],"design":[19],"parameters":[20],"such":[21],"as":[22],"swept-forward":[23,95,117,134],"angle":[25,75,90,97,119,136],"center":[27,107],"of":[28,41,57,68,103,108,120,137],"mass":[29,40],"(COM).":[30],"The":[31,82],"robot":[34],"is":[35],"characterized":[36],"by":[37,93,99],"a":[38,51,54,60,64,72,116,124,133,141],"total":[39],"less":[42],"than":[43,130],"1":[44],"g,":[45],"the":[46,87,94,100,104,113],"COM":[47,105,126,143],"at":[48],"its":[49],"rear,":[50],"tailless":[52],"wing,":[53],"few":[55],"degrees":[56],"freedom":[58],"(DOF),":[59],"low":[61,65],"aspect":[62],"ratio,":[63],"frequency":[67],"10":[69],"Hz,":[70],"wide":[73],"from":[76],"90":[77],"deg":[78,122,139],"to":[79],"-90":[80],"deg.":[81],"experimental":[83],"results":[84],"showed":[85],"that":[86,112,131],"body":[88],"pitch":[89],"was":[91,127],"controlled":[92],"relative":[101],"positions":[102],"lift":[109],"(COL),":[110],"model":[114],"20":[121],"ldquofar-rearrdquo":[125],"more":[128],"suitable":[129],"0":[138],"ldquonear-rearrdquo":[142],"flight.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
