{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,6]],"date-time":"2026-08-06T19:30:42Z","timestamp":1786044642406,"version":"3.56.0"},"reference-count":46,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"38","funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["DGE \u2013 1147470"],"award-info":[{"award-number":["DGE \u2013 1147470"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["1552419"],"award-info":[{"award-number":["1552419"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000181","name":"Air Force Office of Scientific Research","doi-asserted-by":"publisher","award":["FA9550-16-1-0182"],"award-info":[{"award-number":["FA9550-16-1-0182"]}],"id":[{"id":"10.13039\/100000181","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000181","name":"Air Force Office of Scientific Research","doi-asserted-by":"publisher","award":["FA9550-18-1-0525"],"award-info":[{"award-number":["FA9550-18-1-0525"]}],"id":[{"id":"10.13039\/100000181","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100014037","name":"National Defense Science and Engineering Graduate","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100014037","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2020,1,22]]},"abstract":"<jats:p>A soft biohybrid aerial robot with underactuated feathers shows how birds can steer by morphing their wings with wrists and fingers.<\/jats:p>","DOI":"10.1126\/scirobotics.aay1246","type":"journal-article","created":{"date-parts":[[2020,1,17]],"date-time":"2020-01-17T00:45:12Z","timestamp":1579221912000},"source":"Crossref","is-referenced-by-count":173,"title":["Soft biohybrid morphing wings with feathers underactuated by wrist and finger motion"],"prefix":"10.1126","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9751-0407","authenticated-orcid":true,"given":"Eric","family":"Chang","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2033-2243","authenticated-orcid":true,"given":"Laura Y.","family":"Matloff","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4673-9524","authenticated-orcid":true,"given":"Amanda K.","family":"Stowers","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4717-6815","authenticated-orcid":true,"given":"David","family":"Lentink","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Stanford University, Stanford, CA, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"crossref","unstructured":"E. Torenbeek Synthesis of Subsonic Airplane Design (Delft Springer 1982).","DOI":"10.1007\/978-94-017-3202-4"},{"key":"e_1_3_2_3_2","doi-asserted-by":"crossref","unstructured":"M. H. Sadraey Aircraft Design: A Systems Engineering Approach (John Wiley & Sons 2012).","DOI":"10.1002\/9781118352700"},{"key":"e_1_3_2_4_2","doi-asserted-by":"crossref","unstructured":"G. K. Taylor A. C. Carruthers T. Y. Hubel S. M. Walker Morphing Aerospace Vehicles and Structures (John Wiley & Sons Ltd. 2012) pp. 11\u201340.","DOI":"10.1002\/9781119964032.ch2"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2017.0240"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature05733"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cub.2016.09.014"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1177\/1045389X11414084"},{"key":"e_1_3_2_9_2","doi-asserted-by":"crossref","unstructured":"E. Nissim Effect of control surface mass unbalance on the stability of a closed-loop active control system in 30th Structures Structural Dynamics and Materials Conference (American Institute of Aeronautics and Astronautics 1989) pp. 476\u2013486.","DOI":"10.2514\/6.1989-1211"},{"key":"e_1_3_2_10_2","doi-asserted-by":"crossref","unstructured":"B. Siciliano O. Khatib Springer Handbook of Robotics (Springer 2008).","DOI":"10.1007\/978-3-540-30301-5"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/8\/1\/016009"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/9\/2\/025007"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aal2505"},{"key":"e_1_3_2_14_2","unstructured":"C. J. Pennycuick Modelling the Flying Bird (Elsevier Science 2008)."},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2017.0224"},{"key":"e_1_3_2_16_2","unstructured":"A. M. Lucas P. R. Stettenheim Avian Anatomy: Integument (U.S. Department of Agriculture 1972)."},{"key":"e_1_3_2_17_2","doi-asserted-by":"publisher","DOI":"10.1111\/joa.12511"},{"key":"e_1_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1152\/physrev.1971.51.1.201"},{"key":"e_1_3_2_19_2","unstructured":"D. Lentink \u201cExploring the biofluiddynamics of swimming and flight \u201d thesis Wageningen Univerity Wageningen the Netherlands (2008)."},{"key":"e_1_3_2_20_2","unstructured":"M. A. Snook Variable geometry wing WO2014041198A1 (2014)."},{"key":"e_1_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsfs.2016.0092"},{"key":"e_1_3_2_22_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.49.3.509"},{"key":"e_1_3_2_23_2","doi-asserted-by":"crossref","unstructured":"J. J. Videler Avian Flight (Oxford Univ. Press 2006).","DOI":"10.1093\/acprof:oso\/9780199299928.001.0001"},{"key":"e_1_3_2_24_2","first-page":"139","article-title":"Erste Messungen der Fl\u00fcgelgeometrie bei frei gleitfliegenden Haustauben (columbia livia var. domestica) unter Benutzung neu ausgearbeiteter Verfahren der Windkanaltechnik und der Stereophotogrammetrie","volume":"3","author":"Biesel W.","year":"1985","unstructured":"W. Biesel, H. Butz, W. Nachtigall, Erste Messungen der Fl\u00fcgelgeometrie bei frei gleitfliegenden Haustauben (columbia livia var. domestica) unter Benutzung neu ausgearbeiteter Verfahren der Windkanaltechnik und der Stereophotogrammetrie. Biona-Rep. 3, 139\u2013160 (1985).","journal-title":"Biona-Rep."},{"key":"e_1_3_2_25_2","unstructured":"R. Tedrake Underactuated Robotics: Algorithms for Walking Running Swimming Flying and Manipulation (Course Notes for MIT 6.832) . Downloaded on 11\/29\/2019 from http:\/\/underactuated.mit.edu\/."},{"key":"e_1_3_2_26_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsos.160960"},{"key":"e_1_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.49.3.527"},{"key":"e_1_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.010413"},{"key":"e_1_3_2_29_2","doi-asserted-by":"crossref","unstructured":"W. Thomson Theory of Vibration with Applications (CRC Press 2018).","DOI":"10.1201\/9780203718841"},{"key":"e_1_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.2514\/2.2418"},{"key":"e_1_3_2_31_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.aaz3358"},{"key":"e_1_3_2_32_2","unstructured":"M. Drela H. Youngren AVL (Athena Vortex Lattice) (2007); http:\/\/web.mit.edu\/drela\/Public\/web\/avl\/."},{"key":"e_1_3_2_33_2","first-page":"20130329","article-title":"The prospect of using large eddy and detached eddy simulations in engineering design, and the research required to get there","volume":"372","author":"Larsson J.","year":"2014","unstructured":"J. Larsson, Q. Wang, The prospect of using large eddy and detached eddy simulations in engineering design, and the research required to get there. Philos. Trans. A Math. Phys. Eng. Sci. 372, 20130329 (2014).","journal-title":"Philos. Trans. A Math. Phys. Eng. Sci."},{"key":"e_1_3_2_34_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/5\/4\/045008"},{"key":"e_1_3_2_35_2","unstructured":"R. C. Nelson Flight Stability and Automatic Control (WCB\/McGraw Hill 1998) vol. 2."},{"key":"e_1_3_2_36_2","unstructured":"W. M. S. Russell R. L. Burch C. W. Hume The Principles of Humane Experimental Technique (Methuen 1959) vol. 238."},{"key":"e_1_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1600-048X.2011.05105.x"},{"key":"e_1_3_2_38_2","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/aa7dcd"},{"key":"e_1_3_2_39_2","unstructured":"R. Kennedy P. Henry H. Maritrosyan J. Zhu A. Bachrach A. Bry Image space motion planning of an autonomous vehicle U.S. Patent US20190050000A1 (2019)."},{"key":"e_1_3_2_40_2","doi-asserted-by":"publisher","DOI":"10.3389\/fnins.2018.00157"},{"key":"e_1_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2016.2636368"},{"key":"e_1_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1714532114"},{"key":"e_1_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/9\/3\/031001"},{"key":"e_1_3_2_44_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsfs.2016.0094"},{"key":"e_1_3_2_45_2","unstructured":"N. S. Proctor P. J. Lynch Manual of Ornithology: Avian Structure & Function (Yale Univ. Press 1993)."},{"key":"e_1_3_2_46_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2011.11.014"},{"key":"e_1_3_2_47_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2003.12.005"}],"container-title":["Science Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/syndication.highwire.org\/content\/doi\/10.1126\/scirobotics.aay1246","content-type":"unspecified","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/scirobotics.aay1246","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,16]],"date-time":"2024-01-16T11:23:27Z","timestamp":1705404207000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.aay1246"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,1,22]]},"references-count":46,"journal-issue":{"issue":"38","published-print":{"date-parts":[[2020,1,22]]}},"alternative-id":["10.1126\/scirobotics.aay1246"],"URL":"https:\/\/doi.org\/10.1126\/scirobotics.aay1246","relation":{},"ISSN":["2470-9476"],"issn-type":[{"value":"2470-9476","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,1,22]]},"article-number":"eaay1246"}}