{"id":"https://openalex.org/W2048996796","doi":"https://doi.org/10.1109/robio.2012.6490952","title":"A hybrid dynamic model of an insect-like MAV with soft wings","display_name":"A hybrid dynamic model of an insect-like MAV with soft wings","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2048996796","doi":"https://doi.org/10.1109/robio.2012.6490952","mag":"2048996796"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2012.6490952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6490952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5019076372","display_name":"Ayman Belkhiri","orcid":null},"institutions":[{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ayman Belkhiri","raw_affiliation_strings":["IRCCyN laboratory and Ecole des Mines de Nantes, 4, rue Alfred Kastler, B.P. 20722, F-44307, Nantes Cedex 3, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRCCyN laboratory and Ecole des Mines de Nantes, 4, rue Alfred Kastler, B.P. 20722, F-44307, Nantes Cedex 3, France","institution_ids":["https://openalex.org/I70768539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089874621","display_name":"Mathieu Porez","orcid":null},"institutions":[{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Mathieu Porez","raw_affiliation_strings":["IRCCyN laboratory and Ecole des Mines de Nantes, 4, rue Alfred Kastler, B.P. 20722, F-44307, Nantes Cedex 3, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRCCyN laboratory and Ecole des Mines de Nantes, 4, rue Alfred Kastler, B.P. 20722, F-44307, Nantes Cedex 3, France","institution_ids":["https://openalex.org/I70768539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070115867","display_name":"Fr\u00e9d\u00e9ric Boyer","orcid":"https://orcid.org/0000-0003-0021-9590"},"institutions":[{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Fr\u00e9d\u00e9ric Boyer","raw_affiliation_strings":["IRCCyN laboratory and Ecole des Mines de Nantes, 4, rue Alfred Kastler, B.P. 20722, F-44307, Nantes Cedex 3, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRCCyN laboratory and Ecole des Mines de Nantes, 4, rue Alfred Kastler, B.P. 20722, F-44307, Nantes Cedex 3, France","institution_ids":["https://openalex.org/I70768539"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":14.9522,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.98470828,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"108","last_page":"115"},"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9940000176429749,"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":0.9922999739646912,"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/aerodynamics","display_name":"Aerodynamics","score":0.6031582355499268},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5802249908447266},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5581682324409485},{"id":"https://openalex.org/keywords/eulers-formula","display_name":"Euler's formula","score":0.43543094396591187},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43068861961364746},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28259626030921936},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2725192606449127},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23388060927391052},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.18922200798988342},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.16736891865730286},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.15927371382713318}],"concepts":[{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.6031582355499268},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5802249908447266},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5581682324409485},{"id":"https://openalex.org/C62884695","wikidata":"https://www.wikidata.org/wiki/Q184871","display_name":"Euler's formula","level":2,"score":0.43543094396591187},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43068861961364746},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28259626030921936},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2725192606449127},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23388060927391052},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.18922200798988342},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.16736891865730286},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.15927371382713318},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2012.6490952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6490952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338463","display_name":"CHIST-ERA","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1501891458","https://openalex.org/W1514948409","https://openalex.org/W1564897360","https://openalex.org/W1963636759","https://openalex.org/W1970522895","https://openalex.org/W2052095348","https://openalex.org/W2055845023","https://openalex.org/W2067909757","https://openalex.org/W2073116181","https://openalex.org/W2073318111","https://openalex.org/W2074402636","https://openalex.org/W2099644580","https://openalex.org/W2121501130","https://openalex.org/W2126479355","https://openalex.org/W2126859789","https://openalex.org/W2129974228","https://openalex.org/W2130720499","https://openalex.org/W2148970654","https://openalex.org/W2152260006","https://openalex.org/W2163659869","https://openalex.org/W2265507025","https://openalex.org/W2312792461","https://openalex.org/W2339185558","https://openalex.org/W6630888428"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"This":[0,66],"paper":[1],"presents":[2],"a":[3,8,21,35,49,89,128,142],"hybrid":[4],"dynamic":[5,63,70],"model":[6,64,71],"of":[7,24,68,88,99,139],"3-D":[9],"aerial":[10],"insect-like":[11],"robot.":[12],"The":[13,118],"soft-bodied":[14],"insect":[15],"wings":[16,40],"modeling":[17],"is":[18,32,145],"based":[19,53],"on":[20,54],"continuous":[22,36],"version":[23,67],"the":[25,29,55,61,69,73,85,96,107,137],"Newton-Euler":[26,56],"dynamics":[27],"where":[28],"leading":[30],"edge":[31],"treated":[33],"as":[34],"Cosserat":[37],"beam.":[38],"These":[39],"are":[41],"connected":[42],"to":[43,92,111],"an":[44],"insect's":[45],"rigid":[46],"thorax":[47],"using":[48,127],"discrete":[50],"recursive":[51],"algorithm":[52],"equations.":[57],"Here":[58],"we":[59],"detail":[60],"inverse":[62],"algorithm.":[65],"solves":[72],"following":[74],"two":[75],"problems":[76],"involved":[77],"in":[78],"any":[79],"locomotion":[80],"task:":[81],"1\u00b0)":[82],"it":[83,105],"enables":[84],"net":[86],"motion":[87],"reference":[90],"body":[91],"be":[93],"computed":[94],"from":[95],"known":[97],"data":[98],"internal":[100,108,114],"motions":[101],"(strain":[102,115],"fields);":[103],"2\u00b0)":[104],"gives":[106],"torques":[109],"required":[110],"impose":[112],"these":[113],"fields)":[116],"motions.":[117],"essential":[119],"fluid":[120],"effects":[121],"have":[122],"been":[123],"taken":[124],"into":[125],"account":[126],"simplified":[129],"analytical":[130],"hovering":[131],"flight":[132],"aerodynamic":[133],"model.":[134],"To":[135],"facilitate":[136],"analysis":[138],"numerical":[140],"results,":[141],"visualization":[143],"tool":[144],"developed":[146],"(see":[147],"video":[148],"available":[149],"at":[150],"[1]).":[151]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
