{"id":"https://openalex.org/W3130833653","doi":"https://doi.org/10.1109/tro.2021.3053647","title":"Collision Resilient Insect-Scale Soft-Actuated Aerial Robots With High Agility","display_name":"Collision Resilient Insect-Scale Soft-Actuated Aerial Robots With High Agility","publication_year":2021,"publication_date":"2021-02-18","ids":{"openalex":"https://openalex.org/W3130833653","doi":"https://doi.org/10.1109/tro.2021.3053647","mag":"3130833653"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3053647","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2021.3053647","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/9556521/09357346.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/8860/9556521/09357346.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100394287","display_name":"Yufeng Chen","orcid":"https://orcid.org/0000-0001-5407-3211"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"YuFeng Chen","raw_affiliation_strings":["Soft and Microrobotics Lab, Research Laboratory of Electronics, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-5407-3211","affiliations":[{"raw_affiliation_string":"Soft and Microrobotics Lab, Research Laboratory of Electronics, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046685932","display_name":"Siyi Xu","orcid":"https://orcid.org/0000-0003-0007-6411"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siyi Xu","raw_affiliation_strings":["School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0007-6411","affiliations":[{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072016022","display_name":"Zhijian Ren","orcid":"https://orcid.org/0000-0001-6502-5194"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhijian Ren","raw_affiliation_strings":["Soft and Microrobotics Lab, Research Laboratory of Electronics, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Soft and Microrobotics Lab, Research Laboratory of Electronics, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028096191","display_name":"Pakpong Chirarattananon","orcid":"https://orcid.org/0000-0003-0142-8394"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Pakpong Chirarattananon","raw_affiliation_strings":["Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0003-0142-8394","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I168719708"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":78.0018,"has_fulltext":true,"cited_by_count":107,"citation_normalized_percentile":{"value":0.99891707,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"37","issue":"5","first_page":"1752","last_page":"1764"},"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/T11486","display_name":"Micro and Nano Robotics","score":0.9987000226974487,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9968000054359436,"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/robot","display_name":"Robot","score":0.7771210074424744},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6623186469078064},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5270251035690308},{"id":"https://openalex.org/keywords/insect-flight","display_name":"Insect flight","score":0.5037891268730164},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.4695824980735779},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4389726221561432},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42866405844688416},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37655866146087646},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35014423727989197},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3486754298210144},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3313153386116028},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2547886371612549},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.2277674674987793}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7771210074424744},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6623186469078064},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5270251035690308},{"id":"https://openalex.org/C2777314717","wikidata":"https://www.wikidata.org/wiki/Q1425266","display_name":"Insect flight","level":3,"score":0.5037891268730164},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.4695824980735779},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4389726221561432},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42866405844688416},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37655866146087646},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35014423727989197},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3486754298210144},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3313153386116028},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2547886371612549},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.2277674674987793},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2021.3053647","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2021.3053647","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/9556521/09357346.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/142906","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/142906","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/JournalArticle"}],"best_oa_location":{"id":"doi:10.1109/tro.2021.3053647","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2021.3053647","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/9556521/09357346.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5199999809265137,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3130833653.pdf","grobid_xml":"https://content.openalex.org/works/W3130833653.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W1481340334","https://openalex.org/W1496729756","https://openalex.org/W1969160376","https://openalex.org/W1980861656","https://openalex.org/W2035155402","https://openalex.org/W2043695224","https://openalex.org/W2049078445","https://openalex.org/W2068612708","https://openalex.org/W2087269417","https://openalex.org/W2096063654","https://openalex.org/W2098997882","https://openalex.org/W2118533657","https://openalex.org/W2122682219","https://openalex.org/W2134815242","https://openalex.org/W2135115765","https://openalex.org/W2142275056","https://openalex.org/W2142424817","https://openalex.org/W2151794017","https://openalex.org/W2207896672","https://openalex.org/W2394925491","https://openalex.org/W2565906125","https://openalex.org/W2738946927","https://openalex.org/W2765248538","https://openalex.org/W2790187029","https://openalex.org/W2883132479","https://openalex.org/W2889774534","https://openalex.org/W2891415120","https://openalex.org/W2891977477","https://openalex.org/W2893667363","https://openalex.org/W2908633185","https://openalex.org/W2911494594","https://openalex.org/W2955102412","https://openalex.org/W2958751433","https://openalex.org/W2964182442","https://openalex.org/W2966665557","https://openalex.org/W2967001668","https://openalex.org/W2967936895","https://openalex.org/W2981520063","https://openalex.org/W2987068209","https://openalex.org/W2996185064","https://openalex.org/W3029181978","https://openalex.org/W3045212137","https://openalex.org/W3055628792","https://openalex.org/W3098438097","https://openalex.org/W3109936944","https://openalex.org/W3144742656"],"related_works":["https://openalex.org/W650625605","https://openalex.org/W3113932901","https://openalex.org/W1919219501","https://openalex.org/W2027504272","https://openalex.org/W2372181157","https://openalex.org/W2551285827","https://openalex.org/W2347750628","https://openalex.org/W2386313281","https://openalex.org/W2069703662","https://openalex.org/W310732765"],"abstract_inverted_index":{"Flying":[0],"insects":[1],"are":[2,34],"remarkably":[3],"agile":[4],"and":[5,25,52,107,138,161],"robust.":[6],"As":[7],"they":[8,14,45,66],"fly":[9],"through":[10],"cluttered":[11],"natural":[12],"environments,":[13],"can":[15,60,155,175],"demonstrate":[16,124],"aggressive":[17],"acrobatic":[18],"maneuvers":[19,71],"such":[20,40,72],"as":[21,41,73],"backflip,":[22],"rapid":[23,76],"escape,":[24],"in-flight":[26,159],"collision":[27,77,160],"recovery.":[28,78],"Current":[29],"state-of-the-art":[30],"subgram":[31],"microaerial-vehicles":[32],"(MAVs)":[33],"predominately":[35],"powered":[36,91],"by":[37,92],"rigid":[38],"actuators":[39,96],"piezoelectric":[42],"ceramics,":[43],"but":[44],"have":[46,67],"low":[47],"fracture":[48],"strength":[49],"(120":[50],"MPa)":[51],"failure":[53],"strain":[54],"(0.3%).":[55],"Although":[56],"these":[57],"existing":[58],"systems":[59],"achieve":[61,176],"a":[62,84,133,163,189],"high":[63,102,109],"lift-to-weight":[64,135],"ratio,":[65],"not":[68],"demonstrated":[69],"insect-like":[70,177],"somersault":[74,164],"or":[75],"In":[79,147],"this":[80,116],"article,":[81],"we":[82],"present":[83],"665":[85],"mg":[86],"aerial":[87,121,130,173],"robot":[88,122,131],"that":[89,171],"is":[90],"novel":[93,125],"dielectric":[94],"elastomer":[95],"(DEA).":[97],"The":[98],"new":[99,190],"DEA":[100],"achieves":[101,140],"power":[103],"density":[104],"(1.2":[105],"kW/kg)":[106],"relatively":[108],"transduction":[110],"efficiency":[111],"(37%).":[112],"We":[113],"further":[114],"incorporate":[115],"soft":[117,172],"actuator":[118],"into":[119],"an":[120,141,158],"to":[123,149],"flight":[126,178],"capabilities.":[127],"This":[128,168],"insect-scale":[129],"has":[132],"large":[134],"ratio":[136],"(>2.2:1)":[137],"it":[139,154],"ascending":[142],"speed":[143],"of":[144,188,192],"70":[145],"cm/s.":[146],"addition":[148],"demonstrating":[150],"controlled":[151],"hovering":[152],"flight,":[153],"recover":[156],"from":[157],"perform":[162],"within":[165],"0.16":[166],"s.":[167],"work":[169],"demonstrates":[170],"robots":[174],"capabilities":[179],"absent":[180],"in":[181],"rigid-powered":[182],"MAVs,":[183],"thus":[184],"showing":[185],"the":[186],"potential":[187],"class":[191],"hybrid":[193],"soft-rigid":[194],"robots.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":27},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":31},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}