{"id":"https://openalex.org/W2774570437","doi":"https://doi.org/10.1177/0278364918804654","title":"Optimizing the structure and movement of a robotic bat with biological kinematic synergies","display_name":"Optimizing the structure and movement of a robotic bat with biological kinematic synergies","publication_year":2018,"publication_date":"2018-09-01","ids":{"openalex":"https://openalex.org/W2774570437","doi":"https://doi.org/10.1177/0278364918804654","mag":"2774570437"},"language":"en","primary_location":{"id":"doi:10.1177/0278364918804654","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364918804654","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/A5089453108","display_name":"Jonathan Hoff","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jonathan Hoff","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL, USA","Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101945710","display_name":"Alireza Ramezani","orcid":"https://orcid.org/0000-0002-3391-5288"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alireza Ramezani","raw_affiliation_strings":["Graduate Aerospace Laboratories, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate Aerospace Laboratories, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031408324","display_name":"Soon\u2010Jo Chung","orcid":"https://orcid.org/0000-0002-6657-3907"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Soon-Jo Chung","raw_affiliation_strings":["Graduate Aerospace Laboratories, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate Aerospace Laboratories, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071296935","display_name":"Seth Hutchinson","orcid":"https://orcid.org/0000-0002-3949-6061"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seth Hutchinson","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL, USA","Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA","School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5089453108"],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":27.3091,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.98946169,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"37","issue":"10","first_page":"1233","last_page":"1252"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9972000122070312,"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"}},{"id":"https://openalex.org/T11228","display_name":"Bat Biology and Ecology Studies","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/1105","display_name":"Ecology, Evolution, Behavior and Systematics"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7993817329406738},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5920427441596985},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5188297033309937},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49740150570869446},{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.4875568747520447},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.46854934096336365},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.46787118911743164},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.45142167806625366},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3310156464576721},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24097952246665955},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14532038569450378}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7993817329406738},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5920427441596985},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5188297033309937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49740150570869446},{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.4875568747520447},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.46854934096336365},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.46787118911743164},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.45142167806625366},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3310156464576721},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24097952246665955},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14532038569450378},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364918804654","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364918804654","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"},{"id":"pmh:oai:authors.library.caltech.edu:87816","is_oa":false,"landing_page_url":"https://resolver.caltech.edu/CaltechAUTHORS:20180713-074446939","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:www.ideals.illinois.edu:2142/97469","is_oa":false,"landing_page_url":"http://hdl.handle.net/2142/97469","pdf_url":null,"source":{"id":"https://openalex.org/S4306401358","display_name":"Illinois Digital Environment for Access to Learning and Scholarship (University of Illinois at Urbana-Champaign)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801919071","host_organization_name":"University of Illinois System","host_organization_lineage":["https://openalex.org/I2801919071"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G3289317107","display_name":"NRI/Collaborative Research: Improving the Safety and Agility of Robotic Flight with Bat-Inspired Flexible-Winged Robots","funder_award_id":"1427111","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W1484809412","https://openalex.org/W1815774045","https://openalex.org/W1967238647","https://openalex.org/W1972837991","https://openalex.org/W1978310382","https://openalex.org/W1980915507","https://openalex.org/W2011492672","https://openalex.org/W2035155402","https://openalex.org/W2037428143","https://openalex.org/W2047234459","https://openalex.org/W2057347219","https://openalex.org/W2061241332","https://openalex.org/W2067909757","https://openalex.org/W2070787044","https://openalex.org/W2075804535","https://openalex.org/W2076215121","https://openalex.org/W2084226787","https://openalex.org/W2092079277","https://openalex.org/W2100185540","https://openalex.org/W2103202515","https://openalex.org/W2106215490","https://openalex.org/W2107334669","https://openalex.org/W2111340349","https://openalex.org/W2112349308","https://openalex.org/W2118040554","https://openalex.org/W2122943624","https://openalex.org/W2124012251","https://openalex.org/W2126945056","https://openalex.org/W2127533484","https://openalex.org/W2130007788","https://openalex.org/W2134167019","https://openalex.org/W2138983671","https://openalex.org/W2140393019","https://openalex.org/W2144527755","https://openalex.org/W2149516292","https://openalex.org/W2149531389","https://openalex.org/W2151839186","https://openalex.org/W2154006563","https://openalex.org/W2157478780","https://openalex.org/W2161491846","https://openalex.org/W2161770476","https://openalex.org/W2164575107","https://openalex.org/W2168573819","https://openalex.org/W2216237868","https://openalex.org/W2231780113","https://openalex.org/W2323662714","https://openalex.org/W2409823803","https://openalex.org/W2417820651","https://openalex.org/W2418672235","https://openalex.org/W2585024272","https://openalex.org/W2625286912","https://openalex.org/W2736856831","https://openalex.org/W3100298113","https://openalex.org/W3196769885","https://openalex.org/W4250406710","https://openalex.org/W4292023222"],"related_works":["https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W2972304526","https://openalex.org/W2101598871","https://openalex.org/W2109003837","https://openalex.org/W2119963650","https://openalex.org/W4312096302","https://openalex.org/W2005471069","https://openalex.org/W2075639008","https://openalex.org/W2109573574"],"abstract_inverted_index":{"In":[0,19],"this":[1,33,44],"article,":[2],"we":[3,22,36,125],"present":[4,37],"methods":[5,38],"to":[6,39,47,112,131,148],"optimize":[7,40,126],"the":[8,25,29,41,75,114,167,178],"design":[9],"and":[10,46,124,151],"flight":[11,70,122],"characteristics":[12],"of":[13,32,43,78,95,119,145,164,175],"a":[14,86,137,158,162],"biologically":[15,102],"inspired":[16],"bat-like":[17],"robot.":[18],"previous,":[20],"work":[21],"have":[23,72,91],"designed":[24],"topological":[26],"structure":[27],"for":[28],"wing":[30,79],"kinematics":[31,130],"robot;":[34],"here":[35],"geometry":[42],"structure,":[45],"compute":[48],"actuator":[49],"trajectories":[50],"such":[51],"that":[52,71,74,139,152],"its":[53,155,182],"wingbeat":[54,159],"pattern":[55],"closely":[56],"matches":[57],"biological":[58,68,120],"counterparts.":[59],"Our":[60],"approach":[61],"is":[62,140],"motivated":[63],"by":[64],"recent":[65],"studies":[66],"on":[67],"bat":[69,121],"shown":[73],"salient":[76],"aspects":[77],"motion":[80],"can":[81],"be":[82],"accurately":[83],"represented":[84],"in":[85],"low-dimensional":[87],"space.":[88],"Although":[89],"bats":[90],"over":[92,177],"40":[93],"degrees":[94,144],"freedom":[96],"(DoFs),":[97],"our":[98,127],"robot":[99,138,168,180],"possesses":[100],"several":[101],"meaningful":[103],"morphing":[104],"specializations.":[105],"We":[106],"use":[107],"principal":[108],"component":[109],"analysis":[110],"(PCA)":[111],"characterize":[113],"two":[115],"most":[116],"dominant":[117],"modes":[118],"kinematics,":[123],"robot\u2019s":[128],"parametric":[129],"mimic":[132],"these.":[133],"The":[134],"method":[135],"yields":[136],"reduced":[141],"from":[142],"five":[143],"actuation":[146],"(DoAs)":[147],"just":[149],"three,":[150],"actively":[153],"folds":[154],"wings":[156,183],"within":[157],"period.":[160],"As":[161],"result":[163],"mimicking":[165],"synergies,":[166],"produces":[169],"an":[170],"average":[171],"net":[172],"lift":[173],"improvesment":[174],"89%":[176],"same":[179],"when":[181],"cannot":[184],"fold.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}