{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,26]],"date-time":"2026-03-26T15:26:44Z","timestamp":1774538804985,"version":"3.50.1"},"reference-count":40,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2022,5,1]],"date-time":"2022-05-01T00:00:00Z","timestamp":1651363200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,5,1]],"date-time":"2022-05-01T00:00:00Z","timestamp":1651363200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2022,5]]},"DOI":"10.1007\/s10846-021-01556-2","type":"journal-article","created":{"date-parts":[[2022,5,11]],"date-time":"2022-05-11T11:05:15Z","timestamp":1652267115000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["A Multiplatform Position Control Scheme for Flying Robotic Insects"],"prefix":"10.1007","volume":"105","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2088-5769","authenticated-orcid":false,"given":"Ryan M.","family":"Bena","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5618-6348","authenticated-orcid":false,"given":"Xuan-Truc","family":"Nguyen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0726-483X","authenticated-orcid":false,"given":"Xiufeng","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7854-6543","authenticated-orcid":false,"given":"Ariel A.","family":"Calder\u00f3n","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1132-7183","authenticated-orcid":false,"given":"Ying","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2160-8288","authenticated-orcid":false,"given":"N\u00e9stor O.","family":"P\u00e9rez-Arancibia","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,5,11]]},"reference":[{"key":"1556_CR1","doi-asserted-by":"crossref","unstructured":"Finio, B.M., Wood, R.J.: Open-loop roll, pitch and yaw torques for a robotic bee. In: Proc. IEEE\/RSJ Int. Conf. Intell. Robot. Syst. (IROS), Vilamoura-Algarve, Portugal, pp. 113\u2013119 (2012)","DOI":"10.1109\/IROS.2012.6385519"},{"key":"1556_CR2","doi-asserted-by":"crossref","unstructured":"Ma, K.Y., Felton, S.M., Wood, R.J.: Design, fabrication, and modeling of the split actuator microrobotic bee. In: Proc. IEEE\/RSJ Int. Conf. Intell. Robot. Syst. (IROS), Vilamoura-Algarve, Portugal, pp. 1133\u20131140 (2012)","DOI":"10.1109\/IROS.2012.6386192"},{"issue":"6132","key":"1556_CR3","doi-asserted-by":"publisher","first-page":"603","DOI":"10.1126\/science.1231806","volume":"340","author":"KY Ma","year":"2013","unstructured":"Ma, K.Y., Chirarattananon, P., Fuller, S.B., Wood, R.J.: Controlled flight of a biologically inspired, insect-scale robot. Science 340(6132), 603\u2013607 (2013)","journal-title":"Science"},{"key":"1556_CR4","doi-asserted-by":"crossref","unstructured":"P\u00e9rez-Arancibia, N.O., Duhamel, P.-E.J., Ma, K.Y., Wood, R.J.: Model-free control of a flapping-wing flying microrobot. In: Proc. 16th Int. Conf. Adv. Robot. (ICAR), Montevideo, Uruguay, pp. 1\u20138 (2013)","DOI":"10.1109\/ICAR.2013.6766538"},{"issue":"1","key":"1556_CR5","doi-asserted-by":"publisher","first-page":"95","DOI":"10.1007\/s10846-014-0096-8","volume":"77","author":"NO P\u00e9rez-Arancibia","year":"2015","unstructured":"P\u00e9rez-Arancibia, N.O., Duhamel, P.-E.J., Ma, K.Y., Wood, R.J.: Model-free control of a hovering flapping-wing microrobot. J. Intell. Robot. Syst. 77(1), 95\u2013111 (2015)","journal-title":"J. Intell. Robot. Syst."},{"key":"1556_CR6","doi-asserted-by":"crossref","unstructured":"Chirarattananon, P., Ma, K.Y., Wood, R.J.: Adaptive control of a millimeter-scale flapping-wing robot. Bioinspir. Biomim. 9(2). Art. no. 025004 (2014)","DOI":"10.1088\/1748-3182\/9\/2\/025004"},{"issue":"2","key":"1556_CR7","doi-asserted-by":"publisher","first-page":"570","DOI":"10.1109\/LRA.2019.2891086","volume":"4","author":"SB Fuller","year":"2019","unstructured":"Fuller, S.B.: Four wings: An insect-sized aerial robot with steering ability and payload capacity for autonomy. IEEE Robot. Autom. Lett. 4(2), 570\u2013577 (2019)","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"4","key":"1556_CR8","doi-asserted-by":"publisher","first-page":"4270","DOI":"10.1109\/LRA.2019.2931177","volume":"4","author":"X Yang","year":"2019","unstructured":"Yang, X., Chen, Y., Chang, L., Calderon\u0301, A.A., P\u00e9rez-Arancibia, N.O.: Bee+: A 95-mg four-winged insect-scale flying robot driven by twinned unimorph actuators. IEEE Robot. Autom. Lett. 4(4), 4270\u20134277 (2019)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1556_CR9","doi-asserted-by":"crossref","unstructured":"Fearing, R.S., Chiang, K.H., Dickinson, M.H., Pick, D.L., Sitti, M., Yan, J.: Wing transmission for a micromechanical flying insect. In: Proc. IEEE Int. Conf. Robot. Automat. (ICRA), San Francisco, CA, USA, pp. 1509\u20131516 (2000)","DOI":"10.1109\/ROBOT.2000.844811"},{"issue":"3","key":"1556_CR10","doi-asserted-by":"publisher","first-page":"221","DOI":"10.1163\/156856301760132123","volume":"1","author":"J Yan","year":"2002","unstructured":"Yan, J., Avadhanula, S.A., Birch, J., Dickinson, M.H., Sitti, M., Su, T., Fearing, R.S.: Wing transmission for a micromechanical flying insect. J. Micromechatronics 1(3), 221\u2013237 (2002)","journal-title":"J. Micromechatronics"},{"key":"1556_CR11","doi-asserted-by":"crossref","unstructured":"Tanaka, H., Hoshino, K., Matsumoto, K., Shimoyama, I.: Flight dynamics of a butterfly-type ornithopter. In: Proc. IEEE\/RSJ Int. Conf. Intell. Robot. Syst. (IROS), Edmonton, AB, Canada, pp. 2706\u20132711 (2005)","DOI":"10.1109\/IROS.2005.1544999"},{"issue":"2","key":"1556_CR12","doi-asserted-by":"publisher","first-page":"341","DOI":"10.1109\/TRO.2008.916997","volume":"24","author":"RJ Wood","year":"2008","unstructured":"Wood, R.J.: The first takeoff of a biologically inspired at-scale robotic insect. IEEE Trans. Robot. 24(2), 341\u2013347 (2008)","journal-title":"IEEE Trans. Robot."},{"key":"1556_CR13","doi-asserted-by":"crossref","unstructured":"P\u00e9rez-Arancibia, N.O., Ma, K.Y., Galloway, K.C., Greenberg, J.D., Wood, R.J.: First controlled vertical flight of a biologically inspired microrobot. Bioinspir. Biomim. 6(3). Art. no. 036009 (2011)","DOI":"10.1088\/1748-3182\/6\/3\/036009"},{"key":"1556_CR14","doi-asserted-by":"crossref","unstructured":"Wood, R.J., Avadhanula, S., Sahai, R., Steltz, E., Fearing, R.S.: Microrobot design using fiber reinforced composites. J. Mech. Des. 5(130). Art. no. 052304 (2008)","DOI":"10.1115\/1.2885509"},{"key":"1556_CR15","doi-asserted-by":"crossref","unstructured":"Yang, X., Chang, L., P\u00e9rez-Arancibia, N.O.: An 88-milligram insect-scale autonomous crawling robot driven by a catalytic artificial muscle. Sci. Robot. 5(45). Art. no. eaba0015 (2020)","DOI":"10.1126\/scirobotics.aba0015"},{"issue":"3","key":"1556_CR16","doi-asserted-by":"publisher","first-page":"724","DOI":"10.2514\/1.47146","volume":"33","author":"DB Doman","year":"2010","unstructured":"Doman, D.B., Oppenheimer, M.W., Sigthorsson, D.O.: Wingbeat shape modulation for flapping-wing micro-air-vehicle control during hover. J. Guid. Control Dynam. 33(3), 724\u2013739 (2010)","journal-title":"J. Guid. Control Dynam."},{"key":"1556_CR17","doi-asserted-by":"crossref","unstructured":"Chen, Y., P\u00e9rez-Arancibia, N.O.: Generation and real-time implementation of high-speed controlled maneuvers using an autonomous 19-gram quadrotor. In: Proc. IEEE Int. Conf. Robot. Automat. (ICRA), Stockholm, Sweden, pp. 3204\u20133211 (2016)","DOI":"10.1109\/ICRA.2016.7487489"},{"key":"1556_CR18","doi-asserted-by":"crossref","unstructured":"Chen, Y., P\u00e9rez-Arancibia, N.O.: Lyapunov-based controller synthesis and stability analysis for the execution of high-speed multi-flip quadrotor maneuvers. In: Proc. Amer. Control Conf. (ACC), Seattle, WA, USA, pp. 3599\u20133606 (2017)","DOI":"10.23919\/ACC.2017.7963504"},{"key":"1556_CR19","doi-asserted-by":"crossref","unstructured":"Chen, Y., P\u00e9rez-Arancibia, N.O.: Nonlinear adaptive control of quadrotor multi-flipping maneuvers in the presence of time-varying torque latency. In: Proc. IEEE\/RSJ Int. Conf. Intell. Robot. Syst. (IROS), Madrid, Spain, pp. 7845\u20137852 (2018)","DOI":"10.1109\/IROS.2018.8594265"},{"key":"1556_CR20","doi-asserted-by":"crossref","unstructured":"Chen, Y., P\u00e9rez-Arancibia, N.O.: Adaptive control of aerobatic quadrotor maneuvers in the presence of propeller-aerodynamic-coefficient and torque-latency time-variations. In: Proc. IEEE Int. Conf. Robot. Automat. (ICRA), Montreal, QC, Canada, pp. 6447\u20136453 (2019)","DOI":"10.1109\/ICRA.2019.8793614"},{"issue":"6","key":"1556_CR21","doi-asserted-by":"publisher","first-page":"2204","DOI":"10.1109\/TCST.2019.2919819","volume":"28","author":"Y Chen","year":"2020","unstructured":"Chen, Y., P\u00e9rez-Arancibia, N.O.: Controller synthesis and performance optimization for aerobatic quadrotor flight. IEEE Trans. Control Syst. Technol. 28(6), 2204\u20132219 (2020)","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"1122","key":"1556_CR22","first-page":"1","volume":"305","author":"CP Ellington","year":"1984","unstructured":"Ellington, C.P.: The aerodynamics of hovering insect flight. I. The quasi-steady analysis. Phil. Trans. R. Soc. Lond. 305(1122), 1\u201315 (1984)","journal-title":"Phil. Trans. R. Soc. Lond."},{"key":"1556_CR23","doi-asserted-by":"crossref","unstructured":"Karpelson, M., Wei, G.-Y., Wood, R.J.: Milligram-scale high-voltage power electronics for piezoelectric microrobots. In: Proc. IEEE Int. Conf. Robot. Automat. (ICRA), Kobe, Japan, pp. 2217\u20132224 (2009)","DOI":"10.1109\/ROBOT.2009.5152319"},{"key":"1556_CR24","doi-asserted-by":"crossref","unstructured":"Chang, L., P\u00e9rez-Arancibia, N.O.: The dynamics of passive wing-pitching in hovering flight of flapping micro air vehicles using three-dimensional aerodynamic simulations. In: Proc. AIAA Atmos. Flight Mech. Conf., SciTech Forum, San Diego, CA, USA. Art. no. AIAA 2016\u20130013 (2016)","DOI":"10.2514\/6.2016-0013"},{"key":"1556_CR25","doi-asserted-by":"crossref","unstructured":"Chang, L., P\u00e9rez-Arancibia, N.O.: Time-averaged dynamic modeling of a flapping-wing micro air vehicle with passive rotation mechanisms. In: Proc. AIAA Atmos. Flight Mech. Conf., AVIATION Forum, Atlanta, GA, USA. Art. no. AIAA 2018\u20132830 (2018)","DOI":"10.2514\/6.2018-2830"},{"key":"1556_CR26","doi-asserted-by":"crossref","unstructured":"Singer, E.K., Chang, L., Calderon\u0301, A.A., P\u00e9rez-Arancibia, N.O.: Clip-brazing for the design and fabrication of micronewton-resolution, millimeter-scale force sensors, Smart Mater. Struct. 28(5). Art. no. 055028 (2019)","DOI":"10.1088\/1361-665X\/aaea33"},{"key":"1556_CR27","doi-asserted-by":"crossref","unstructured":"Calder\u00f3n, A.A., Chen, Y., Yang, X., Chang, L., Nguyen, X.-T., Singer, E.K., P\u00e9rez-Arancibia, N.O.: Control of flying robotic insects: A perspective and unifying approach. In: Proc. 19th Int. Conf. Adv. Robot. (ICAR), Belo Horizonte, Brazil, pp. 747\u2013754 (2019)","DOI":"10.1109\/ICAR46387.2019.8981656"},{"key":"1556_CR28","doi-asserted-by":"crossref","unstructured":"Chen, Y., Ma, K., Wood, R.J.: Influence of wing morphological and inertial parameters on flapping flight performance. In: Proc. IEEE\/RSJ Int. Conf. Intell. Robot. Syst. (IROS), Daejeon, Korea, pp. 2329\u20132336 (2016)","DOI":"10.1109\/IROS.2016.7759363"},{"key":"1556_CR29","doi-asserted-by":"crossref","unstructured":"Jafferis, N.T., Graule, M.A., Wood, R.J.: Non-linear resonance modeling and system design improvements for underactuated flapping-wing vehicles. In: Proc. IEEE Int. Conf. Robot. Automat. (ICRA), Stockholm, Sweden, pp. 3234\u20133241 (2016)","DOI":"10.1109\/ICRA.2016.7487493"},{"key":"1556_CR30","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4939-0802-8","volume-title":"Fundamentals of Spacecraft Attitude Determination and Control","author":"FL Markley","year":"2014","unstructured":"Markley, F.L., Crassidis, J.L.: Fundamentals of Spacecraft Attitude Determination and Control. Springer, New Yorkk, NY, USA (2014)"},{"key":"1556_CR31","volume-title":"Quaternions and Rotation Sequences: A Primer with Applications to Orbits, Aerospace, and Virtual Reality","author":"JB Kuipers","year":"2002","unstructured":"Kuipers, J.B.: Quaternions and Rotation Sequences: A Primer with Applications to Orbits, Aerospace, and Virtual Reality. Princeton University Press, Princeton, NJ, USA (2002)"},{"key":"1556_CR32","doi-asserted-by":"publisher","first-page":"197","DOI":"10.1017\/S002211201000265X","volume":"660","author":"JP Whitney","year":"2010","unstructured":"Whitney, J.P., Wood, R.J.: Aeromechanics of passive rotation in flapping flight. J. Fluid Mech. 660, 197\u2013220 (2010)","journal-title":"J. Fluid Mech."},{"key":"1556_CR33","volume-title":"A Mathematical Introduction to Robotic Manipulation","author":"RM Murray","year":"1994","unstructured":"Murray, R.M.: A Mathematical Introduction to Robotic Manipulation. CRC Press, Boca Raton, FL, USA (1994)"},{"issue":"3","key":"1556_CR34","doi-asserted-by":"publisher","first-page":"375","DOI":"10.2514\/3.20418","volume":"12","author":"B Wie","year":"1989","unstructured":"Wie, B., Weiss, H., Arapostathis, A.: Quaternion feedback regulator for spacecraft eigenaxis rotations. J. Guid. Control Dynam. 12(3), 375\u2013380 (1989)","journal-title":"J. Guid. Control Dynam."},{"issue":"10","key":"1556_CR35","doi-asserted-by":"publisher","first-page":"1148","DOI":"10.1109\/9.90228","volume":"36","author":"JT-Y Wen","year":"1991","unstructured":"Wen, J.T.-Y., Kreutz-Delgado, K.: The attitude control problem. IEEE Trans. Autom. Control 36(10), 1148\u20131162 (1991)","journal-title":"IEEE Trans. Autom. Control"},{"key":"1556_CR36","volume-title":"Nonlinear Systems","author":"HK Khalil","year":"2002","unstructured":"Khalil, H.K.: Nonlinear Systems. Prentice-Hall, Upper Saddle River, NJ, USA (2002)"},{"key":"1556_CR37","doi-asserted-by":"crossref","unstructured":"Gravish, N., Wood, R.J.: Anomalous yaw torque generation from passively pitching wings. In: Proc. IEEE Int. Conf. Robot. Automat. (ICRA), Stockholm, Sweden, pp. 3282\u20133287 (2016)","DOI":"10.1109\/ICRA.2016.7487500"},{"issue":"1","key":"1556_CR38","doi-asserted-by":"publisher","first-page":"183","DOI":"10.1109\/21.141324","volume":"22","author":"RM Murray","year":"1992","unstructured":"Murray, R.M., Deno, D.C., Pister, K.S.J., Sastry, S.S.: Control Primitives for Robot Systems. IEEE Trans. Syst. Man Cybern. 22(1), 183\u2013193 (1992)","journal-title":"IEEE Trans. Syst. Man Cybern."},{"key":"1556_CR39","doi-asserted-by":"crossref","unstructured":"Schaal, S.: Dynamic movement primitives\u2013A framework for motor control in humans and humanoid robotics. In: Kimura, H., Tsuchiya, K., Ishiguro, A., Witte, H. (eds.) Adaptive Motion of Animals and Machines, pp. 261\u2013280. Springer, Tokyo, Japan (2006)","DOI":"10.1007\/4-431-31381-8_23"},{"key":"1556_CR40","volume-title":"Fundamental Ideas of Analysis","author":"MC Reed","year":"1998","unstructured":"Reed, M.C.: Fundamental Ideas of Analysis. Wiley, Hoboken, NJ, USA (1998)"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01556-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-021-01556-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01556-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,24]],"date-time":"2024-09-24T11:02:57Z","timestamp":1727175777000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-021-01556-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5]]},"references-count":40,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2022,5]]}},"alternative-id":["1556"],"URL":"https:\/\/doi.org\/10.1007\/s10846-021-01556-2","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,5]]},"assertion":[{"value":"28 May 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 November 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 May 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}],"article-number":"19"}}