{"id":"https://openalex.org/W2281424041","doi":"https://doi.org/10.1177/0278364916632896","title":"Perching with a robotic insect using adaptive tracking control and iterative learning control","display_name":"Perching with a robotic insect using adaptive tracking control and iterative learning control","publication_year":2016,"publication_date":"2016-02-24","ids":{"openalex":"https://openalex.org/W2281424041","doi":"https://doi.org/10.1177/0278364916632896","mag":"2281424041"},"language":"en","primary_location":{"id":"doi:10.1177/0278364916632896","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364916632896","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-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/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":true,"raw_author_name":"Pakpong Chirarattananon","raw_affiliation_strings":["Department of Mechanical and Biomedical\r        Engineering department, City University of Hong Kong, China","Department of Mechanical and Biomedical\r Engineering department, City University of Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Biomedical\r        Engineering department, City University of Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Mechanical and Biomedical\r Engineering department, City University of Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040129645","display_name":"Y. Kevin","orcid":null},"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":"Kevin Y Ma","raw_affiliation_strings":["John A. Paulson School of Engineering and\r        Applied Sciences, Harvard University, Cambridge, MA, USA","John A. Paulson School of Engineering and\r Applied Sciences, Harvard University, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"John A. Paulson School of Engineering and\r        Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"John A. Paulson School of Engineering and\r Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068613839","display_name":"Robert J. Wood","orcid":"https://orcid.org/0000-0001-7969-038X"},"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":"Robert J Wood","raw_affiliation_strings":["John A. Paulson School of Engineering and\r        Applied Sciences, Harvard University, Cambridge, MA, USA","John A. Paulson School of Engineering and\r Applied Sciences, Harvard University, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"John A. Paulson School of Engineering and\r        Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"John A. Paulson School of Engineering and\r Applied Sciences, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5028096191"],"corresponding_institution_ids":["https://openalex.org/I168719708"],"apc_list":null,"apc_paid":null,"fwci":123.7621,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.99819407,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"35","issue":"10","first_page":"1185","last_page":"1206"},"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9829999804496765,"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/iterative-learning-control","display_name":"Iterative learning control","score":0.7497419714927673},{"id":"https://openalex.org/keywords/flapping","display_name":"Flapping","score":0.5787048935890198},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5782274603843689},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5339969396591187},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5195056200027466},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5173008441925049},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49663907289505005},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4882819652557373},{"id":"https://openalex.org/keywords/simplicity","display_name":"Simplicity","score":0.4425026476383209},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40035757422447205},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3054136335849762},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.301092267036438},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.14238226413726807},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.11566901206970215},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08534196019172668}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.7497419714927673},{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.5787048935890198},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5782274603843689},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5339969396591187},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5195056200027466},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5173008441925049},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49663907289505005},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4882819652557373},{"id":"https://openalex.org/C2776372474","wikidata":"https://www.wikidata.org/wiki/Q508291","display_name":"Simplicity","level":2,"score":0.4425026476383209},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40035757422447205},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3054136335849762},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.301092267036438},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.14238226413726807},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.11566901206970215},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08534196019172668},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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:10.1177/0278364916632896","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364916632896","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W125539584","https://openalex.org/W1487127700","https://openalex.org/W1502510213","https://openalex.org/W1561957313","https://openalex.org/W1575750807","https://openalex.org/W1595400991","https://openalex.org/W1983321650","https://openalex.org/W1989217476","https://openalex.org/W1997341905","https://openalex.org/W1998440482","https://openalex.org/W2000803795","https://openalex.org/W2008782415","https://openalex.org/W2015367954","https://openalex.org/W2016589492","https://openalex.org/W2018666734","https://openalex.org/W2030864956","https://openalex.org/W2032258902","https://openalex.org/W2035155402","https://openalex.org/W2036615033","https://openalex.org/W2036699164","https://openalex.org/W2037467395","https://openalex.org/W2041242313","https://openalex.org/W2043151145","https://openalex.org/W2046886698","https://openalex.org/W2049751180","https://openalex.org/W2058592719","https://openalex.org/W2062074458","https://openalex.org/W2062083029","https://openalex.org/W2068612708","https://openalex.org/W2068875768","https://openalex.org/W2069188597","https://openalex.org/W2074053591","https://openalex.org/W2083630328","https://openalex.org/W2084427861","https://openalex.org/W2085630499","https://openalex.org/W2087269417","https://openalex.org/W2090308111","https://openalex.org/W2091219706","https://openalex.org/W2096063654","https://openalex.org/W2098711104","https://openalex.org/W2100346697","https://openalex.org/W2103202515","https://openalex.org/W2103332553","https://openalex.org/W2104748964","https://openalex.org/W2105696203","https://openalex.org/W2109656638","https://openalex.org/W2119361268","https://openalex.org/W2131991784","https://openalex.org/W2133229586","https://openalex.org/W2134790752","https://openalex.org/W2135628284","https://openalex.org/W2142424817","https://openalex.org/W2147626570","https://openalex.org/W2148822237","https://openalex.org/W2151104204","https://openalex.org/W2153807823","https://openalex.org/W2162991084","https://openalex.org/W2166377112","https://openalex.org/W2206991602","https://openalex.org/W2314977861","https://openalex.org/W2326702042","https://openalex.org/W2735608840","https://openalex.org/W3039083618","https://openalex.org/W3144742656","https://openalex.org/W4233730359"],"related_works":["https://openalex.org/W2368019753","https://openalex.org/W2333930193","https://openalex.org/W2737356002","https://openalex.org/W2246241526","https://openalex.org/W2374150061","https://openalex.org/W4301122218","https://openalex.org/W2081340182","https://openalex.org/W2369703001","https://openalex.org/W2372323577","https://openalex.org/W2321432690"],"abstract_inverted_index":{"Inspired":[0],"by":[1,124],"the":[2,48,68,99,130],"aerial":[3],"prowess":[4],"of":[5,114],"flying":[6],"insects,":[7],"we":[8,54,121],"demonstrate":[9],"that":[10,123],"their":[11,104],"robotic":[12],"counterpart,":[13],"an":[14,20,65,75],"insect-scale":[15],"flapping-wing":[16],"robot,":[17],"can":[18],"mimic":[19],"aggressive":[21,117],"maneuver":[22],"seen":[23],"in":[24,47,111],"natural":[25],"fliers\u2014":[26],"landing":[27,90],"on":[28,67,136],"a":[29,56,112,137],"vertical":[30,100],"wall.":[31],"Such":[32],"acrobatic":[33],"movement":[34],"differs":[35],"from":[36,126],"simple":[37],"lateral":[38],"maneuvers":[39],"or":[40],"hover,":[41],"and":[42,74,85,116],"therefore":[43],"requires":[44],"additional":[45],"considerations":[46],"control":[49,61,78],"strategy.":[50],"In":[51],"this":[52],"paper,":[53],"propose":[55],"single-loop":[57],"adaptive":[58],"tracking":[59],"flight":[60],"suite":[62],"designed":[63],"with":[64],"emphasis":[66],"ability":[69],"to":[70,80,95,98,103],"track":[71],"dynamic":[72],"trajectories,":[73],"iterative":[76],"learning":[77,125,142],"algorithm":[79],"account":[81],"for":[82,88],"unmodeled":[83],"dynamics":[84],"systematic":[86],"errors":[87],"improved":[89],"accuracy.":[91],"Magnets":[92],"were":[93],"chosen":[94],"enable":[96],"attachment":[97],"surface":[101],"due":[102],"simplicity.":[105],"The":[106],"proposed":[107],"controller":[108],"was":[109],"verified":[110],"series":[113],"hovering":[115],"translational":[118],"flights.":[119],"Furthermore,":[120],"show":[122],"previous":[127],"failed":[128],"attempts,":[129],"biologically-inspired":[131],"robot":[132],"could":[133],"successfully":[134],"perch":[135],"magnetic":[138],"wall":[139],"after":[140],"eight":[141],"iterations.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}