{"id":"https://openalex.org/W3125790832","doi":"https://doi.org/10.1126/scirobotics.abc8170","title":"A controllable dual-catapult system inspired by the biomechanics of the dragonfly larvae\u2019s predatory strike","display_name":"A controllable dual-catapult system inspired by the biomechanics of the dragonfly larvae\u2019s predatory strike","publication_year":2021,"publication_date":"2021-01-20","ids":{"openalex":"https://openalex.org/W3125790832","doi":"https://doi.org/10.1126/scirobotics.abc8170","mag":"3125790832","pmid":"https://pubmed.ncbi.nlm.nih.gov/34043578"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.abc8170","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.abc8170","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5044977343","display_name":"Sebastian B\u00fcsse","orcid":"https://orcid.org/0000-0002-1657-7950"},"institutions":[{"id":"https://openalex.org/I32021983","display_name":"Christian-Albrechts-Universit\u00e4t zu Kiel","ror":"https://ror.org/04v76ef78","country_code":"DE","type":"education","lineage":["https://openalex.org/I32021983"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Sebastian B\u00fcsse","raw_affiliation_strings":["Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany"],"raw_orcid":"https://orcid.org/0000-0002-1657-7950","affiliations":[{"raw_affiliation_string":"Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany","institution_ids":["https://openalex.org/I32021983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067093515","display_name":"Alexander Koehnsen","orcid":null},"institutions":[{"id":"https://openalex.org/I32021983","display_name":"Christian-Albrechts-Universit\u00e4t zu Kiel","ror":"https://ror.org/04v76ef78","country_code":"DE","type":"education","lineage":["https://openalex.org/I32021983"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Koehnsen","raw_affiliation_strings":["Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany"],"raw_orcid":"https://orcid.org/0000-0002-3338-0519","affiliations":[{"raw_affiliation_string":"Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany","institution_ids":["https://openalex.org/I32021983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022124422","display_name":"Hamed Rajabi","orcid":"https://orcid.org/0000-0002-1792-3325"},"institutions":[{"id":"https://openalex.org/I32021983","display_name":"Christian-Albrechts-Universit\u00e4t zu Kiel","ror":"https://ror.org/04v76ef78","country_code":"DE","type":"education","lineage":["https://openalex.org/I32021983"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hamed Rajabi","raw_affiliation_strings":["Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany"],"raw_orcid":"https://orcid.org/0000-0002-1792-3325","affiliations":[{"raw_affiliation_string":"Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany","institution_ids":["https://openalex.org/I32021983"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062162459","display_name":"Stanislav N. Gorb","orcid":"https://orcid.org/0000-0001-9712-7953"},"institutions":[{"id":"https://openalex.org/I32021983","display_name":"Christian-Albrechts-Universit\u00e4t zu Kiel","ror":"https://ror.org/04v76ef78","country_code":"DE","type":"education","lineage":["https://openalex.org/I32021983"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stanislav N. Gorb","raw_affiliation_strings":["Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany"],"raw_orcid":"https://orcid.org/0000-0001-9712-7953","affiliations":[{"raw_affiliation_string":"Department of Functional Morphology and Biomechanics, Institute of Zoology, Kiel University, Am Botanischen Garten 9, 24118 Kiel, Germany","institution_ids":["https://openalex.org/I32021983"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5044977343"],"corresponding_institution_ids":["https://openalex.org/I32021983"],"apc_list":null,"apc_paid":null,"fwci":21.3893,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.98799249,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"6","issue":"50","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9993000030517578,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/dragonfly","display_name":"Dragonfly","score":0.825790286064148},{"id":"https://openalex.org/keywords/biomechanics","display_name":"Biomechanics","score":0.6274735927581787},{"id":"https://openalex.org/keywords/larva","display_name":"Larva","score":0.4409356415271759},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42257094383239746},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.4142484664916992},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.34355634450912476},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.2747461199760437}],"concepts":[{"id":"https://openalex.org/C2777795971","wikidata":"https://www.wikidata.org/wiki/Q80066","display_name":"Dragonfly","level":3,"score":0.825790286064148},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.6274735927581787},{"id":"https://openalex.org/C173758957","wikidata":"https://www.wikidata.org/wiki/Q129270","display_name":"Larva","level":2,"score":0.4409356415271759},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42257094383239746},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.4142484664916992},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.34355634450912476},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.2747461199760437}],"mesh":[{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005247","descriptor_name":"Feeding Behavior","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005247","descriptor_name":"Feeding Behavior","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005247","descriptor_name":"Feeding Behavior","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D007814","descriptor_name":"Larva","qualifier_ui":"Q000033","qualifier_name":"anatomy & histology","is_major_topic":false},{"descriptor_ui":"D007814","descriptor_name":"Larva","qualifier_ui":"Q000033","qualifier_name":"anatomy & histology","is_major_topic":false},{"descriptor_ui":"D007814","descriptor_name":"Larva","qualifier_ui":"Q000033","qualifier_name":"anatomy & histology","is_major_topic":false},{"descriptor_ui":"D007814","descriptor_name":"Larva","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D007814","descriptor_name":"Larva","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D007814","descriptor_name":"Larva","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009055","descriptor_name":"Mouth","qualifier_ui":"Q000033","qualifier_name":"anatomy & histology","is_major_topic":false},{"descriptor_ui":"D009055","descriptor_name":"Mouth","qualifier_ui":"Q000033","qualifier_name":"anatomy & histology","is_major_topic":false},{"descriptor_ui":"D009055","descriptor_name":"Mouth","qualifier_ui":"Q000033","qualifier_name":"anatomy & histology","is_major_topic":false},{"descriptor_ui":"D009055","descriptor_name":"Mouth","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009055","descriptor_name":"Mouth","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009055","descriptor_name":"Mouth","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D011235","descriptor_name":"Predatory Behavior","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D011235","descriptor_name":"Predatory Behavior","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D011235","descriptor_name":"Predatory Behavior","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000706","qualifier_name":"statistics & numerical data","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000706","qualifier_name":"statistics & numerical data","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000706","qualifier_name":"statistics & numerical data","is_major_topic":false},{"descriptor_ui":"D040761","descriptor_name":"Biomimetic Materials","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D040761","descriptor_name":"Biomimetic Materials","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D040761","descriptor_name":"Biomimetic Materials","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D063191","descriptor_name":"Odonata","qualifier_ui":"Q000033","qualifier_name":"anatomy & histology","is_major_topic":false},{"descriptor_ui":"D063191","descriptor_name":"Odonata","qualifier_ui":"Q000033","qualifier_name":"anatomy & histology","is_major_topic":false},{"descriptor_ui":"D063191","descriptor_name":"Odonata","qualifier_ui":"Q000033","qualifier_name":"anatomy & histology","is_major_topic":false},{"descriptor_ui":"D063191","descriptor_name":"Odonata","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D063191","descriptor_name":"Odonata","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D063191","descriptor_name":"Odonata","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.abc8170","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.abc8170","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:34043578","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34043578","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G457393157","display_name":null,"funder_award_id":"BU3169/1\u20131","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W123307320","https://openalex.org/W1581956248","https://openalex.org/W1588840222","https://openalex.org/W1829372477","https://openalex.org/W1918086580","https://openalex.org/W1934081562","https://openalex.org/W1969308325","https://openalex.org/W1975992904","https://openalex.org/W1976321457","https://openalex.org/W1980412669","https://openalex.org/W1997339002","https://openalex.org/W2005899194","https://openalex.org/W2010233463","https://openalex.org/W2013876510","https://openalex.org/W2020815519","https://openalex.org/W2046635134","https://openalex.org/W2069615984","https://openalex.org/W2072128224","https://openalex.org/W2074665172","https://openalex.org/W2074786477","https://openalex.org/W2076057579","https://openalex.org/W2081850166","https://openalex.org/W2092541769","https://openalex.org/W2105595651","https://openalex.org/W2110301612","https://openalex.org/W2126040686","https://openalex.org/W2140049446","https://openalex.org/W2142599444","https://openalex.org/W2147184326","https://openalex.org/W2158120837","https://openalex.org/W2185405178","https://openalex.org/W2188910242","https://openalex.org/W2230940130","https://openalex.org/W2273400761","https://openalex.org/W2292877500","https://openalex.org/W2314231196","https://openalex.org/W2314784172","https://openalex.org/W2475145599","https://openalex.org/W2514973356","https://openalex.org/W2560658338","https://openalex.org/W2613709093","https://openalex.org/W2715063771","https://openalex.org/W2750785790","https://openalex.org/W2772054799","https://openalex.org/W2796423016","https://openalex.org/W2801462737","https://openalex.org/W2808222985","https://openalex.org/W2920986680","https://openalex.org/W2967783898","https://openalex.org/W2988645098","https://openalex.org/W3021597665","https://openalex.org/W7065345303"],"related_works":["https://openalex.org/W2307345854","https://openalex.org/W1993928223","https://openalex.org/W3033161610","https://openalex.org/W2411093417","https://openalex.org/W2343546318","https://openalex.org/W2022113393","https://openalex.org/W2800396414","https://openalex.org/W2084695065","https://openalex.org/W1978655292","https://openalex.org/W2007157331"],"abstract_inverted_index":{"The":[0,28],"biomechanics":[1,138],"underlying":[2],"the":[3,35,39,67,92,106,127,133,137,140,155],"predatory":[4,40],"strike":[5,41],"of":[6,31,38,51,70,118,132,139,162],"dragonfly":[7,148],"larvae":[8,14,149],"is":[9,94,110],"not":[10],"yet":[11],"understood.":[12],"Dragonfly":[13],"are":[15],"aquatic":[16],"ambush":[17],"predators,":[18],"capturing":[19],"their":[20],"prey":[21],"with":[22],"a":[23,71,87,116,122,163],"strongly":[24],"modified":[25],"extensible":[26,134],"mouthpart.":[27,135],"current":[29],"theory":[30],"hydraulic":[32],"pressure":[33],"being":[34],"driving":[36],"force":[37],"can":[42,150],"be":[43,151],"refuted":[44],"by":[45,96,112],"our":[46],"manipulation":[47],"experiments":[48],"and":[49,81,129],"reinterpretation":[50],"former":[52],"studies.":[53],"Here,":[54],"we":[55,120],"report":[56],"evidence":[57],"for":[58,91],"an":[59,98],"independently":[60,76,141],"loaded":[61,77,142],"synchronized":[62,143],"dual-catapult":[63,144],"system.":[64,166],"To":[65],"power":[66],"ballistic":[68],"movement":[69,93],"single":[72],"specialized":[73],"mouthpart,":[74],"two":[75,83],"springs":[78],"simultaneously":[79],"release":[80],"actuate":[82],"separate":[84],"joints":[85],"in":[86,147],"kinematic":[88],"chain.":[89],"Energy":[90],"stored":[95],"straining":[97],"elastic":[99],"structure":[100],"at":[101],"each":[102],"joint":[103],"and,":[104,158],"possibly,":[105],"surrounding":[107],"cuticle,":[108],"which":[109],"preloaded":[111],"muscle":[113],"contraction.":[114],"As":[115],"proof":[117],"concept,":[119],"developed":[121],"bioinspired":[123],"robotic":[124,165],"model":[125],"resembling":[126],"morphology":[128],"functional":[130],"principle":[131],"Understanding":[136],"system":[145],"found":[146],"used":[152],"to":[153],"control":[154],"extension":[156],"direction":[157],"thereby,":[159],"thrust":[160],"vector":[161],"power-modulated":[164]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}