{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T22:48:46Z","timestamp":1773787726933,"version":"3.50.1"},"reference-count":89,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"66","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2022,5,25]]},"abstract":"<jats:p>Among small rotorcraft, the use of multiple compact rotors in a mechanically simple design leads to impressive agility and maneuverability but inevitably results in high energetic demand and acutely restricted endurance. Small spinning propellers used in these vehicles contrast with large lifting surfaces of winged seeds, which spontaneously gyrate into stable autorotation upon falling. The pronounced aerodynamic surfaces and delayed stalls are believed key to efficient unpowered flight. Here, the bioinspired principles are adopted to notably reduce the power consumption of small aerial vehicles by means of a samara-inspired robot. We report a dual-wing 35.1-gram aircraft capable of hovering flight via powered gyration. Equipped with two rotors, the underactuated robot with oversized revolving wings, designed to leverage unsteady aerodynamics, was optimized for boosted flight efficiency. Through the analysis of flight dynamics and stability, the vehicle was designed for passive attitude stability, eliminating the need for fast feedback to stay upright. To this end, the drone demonstrates flight with a twofold decrease in power consumption when compared with benchmark multirotor robots. Exhibiting the power loading of 8.0 grams per watt, the vehicle recorded a flight time of 14.9 minutes and up to 24.5 minutes when equipped with a larger battery. Taking advantage of the fast revolving motion to overcome the severe underactuation, we also realized position-controlled flight and illustrated examples of mapping and surveillance applications with a 21.5-gram payload.<\/jats:p>","DOI":"10.1126\/scirobotics.abg5913","type":"journal-article","created":{"date-parts":[[2022,5,11]],"date-time":"2022-05-11T17:55:14Z","timestamp":1652291714000},"source":"Crossref","is-referenced-by-count":59,"title":["A bioinspired revolving-wing drone with passive attitude stability and efficient hovering flight"],"prefix":"10.1126","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8746-3096","authenticated-orcid":true,"given":"Songnan","family":"Bai","sequence":"first","affiliation":[{"name":"Department of Biomedical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2974-0075","authenticated-orcid":true,"given":"Qingning","family":"He","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0142-8394","authenticated-orcid":true,"given":"Pakpong","family":"Chirarattananon","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, City University of Hong Kong, Tat Chee Avenue, Hong Kong SAR, China."}]}],"member":"221","reference":[{"key":"e_1_3_3_2_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-019-1737-7"},{"key":"e_1_3_3_3_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abb0839"},{"key":"e_1_3_3_4_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaz9712"},{"key":"e_1_3_3_5_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc3000"},{"key":"e_1_3_3_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3015459"},{"key":"e_1_3_3_7_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/abbd81"},{"key":"e_1_3_3_8_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14542"},{"key":"e_1_3_3_9_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsfs.2016.0088"},{"key":"e_1_3_3_10_2","doi-asserted-by":"publisher","DOI":"10.2514\/1.26415"},{"key":"e_1_3_3_11_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aba2386"},{"key":"e_1_3_3_12_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.00663"},{"key":"e_1_3_3_13_2","doi-asserted-by":"crossref","unstructured":"M. Keennon K. Klingebiel H. Won Development of the nano hummingbird: A tailless flapping wing micro air vehicle in Proceedings of the 50th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition (AIAA 2012) p. 588.","DOI":"10.2514\/6.2012-588"},{"key":"e_1_3_3_14_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.aat0350"},{"key":"e_1_3_3_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.2993217"},{"key":"e_1_3_3_16_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2014.0585"},{"key":"e_1_3_3_17_2","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevLett.103.118102"},{"key":"e_1_3_3_18_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2016.0730"},{"key":"e_1_3_3_19_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2016.12.019"},{"key":"e_1_3_3_20_2","doi-asserted-by":"publisher","DOI":"10.1002\/adem.201700552"},{"key":"e_1_3_3_21_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aao5619"},{"key":"e_1_3_3_22_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.aaf1092"},{"key":"e_1_3_3_23_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau6637"},{"key":"e_1_3_3_24_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2929589"},{"key":"e_1_3_3_25_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.1231806"},{"key":"e_1_3_3_26_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2891086"},{"key":"e_1_3_3_27_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1469-185X.1973.tb01569.x"},{"key":"e_1_3_3_28_2","doi-asserted-by":"publisher","DOI":"10.1088\/0951-7715\/25\/1\/C1"},{"key":"e_1_3_3_29_2","doi-asserted-by":"publisher","DOI":"10.1600\/036364409788606262"},{"key":"e_1_3_3_30_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.1174196"},{"key":"e_1_3_3_31_2","doi-asserted-by":"publisher","DOI":"10.2514\/1.47197"},{"key":"e_1_3_3_32_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/5\/4\/045009"},{"key":"e_1_3_3_33_2","doi-asserted-by":"crossref","unstructured":"S. Jameson K. Fregene M. Chang N. Allen H. Youngren J. Scroggins Lockheed Martin\u2019s samarai nano air vehicle: Challenges research and realization in Proceedings of the 50th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition (AIAA 2012) p. 584.","DOI":"10.2514\/6.2012-584"},{"key":"e_1_3_3_34_2","doi-asserted-by":"publisher","DOI":"10.1109\/MPOT.2014.2359034"},{"key":"e_1_3_3_35_2","doi-asserted-by":"crossref","unstructured":"J. E. Low L. T. S. Win D. S. B. Shaiful C. H. Tan G. S. Soh S. Foong Design and dynamic analysis of a transformable hovering rotorcraft (thor) in Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA) (IEEE 2017) pp. 6389\u20136396.","DOI":"10.1109\/ICRA.2017.7989755"},{"key":"e_1_3_3_36_2","doi-asserted-by":"crossref","unstructured":"J. E. Low L. T. S. Win J. Le Lee G. S. Soh S. Foong Towards a stable three-mode transformable hovering rotorcraft (thor) in Proceedings of the 2018 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (IEEE 2018) pp. 492\u2013497.","DOI":"10.1109\/AIM.2018.8452702"},{"key":"e_1_3_3_37_2","doi-asserted-by":"publisher","DOI":"10.1142\/S2301385019500067"},{"key":"e_1_3_3_38_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2924837"},{"key":"e_1_3_3_39_2","doi-asserted-by":"crossref","unstructured":"D. S. B. Shaiful L. T. S. Win J. E. Low S. K. H. Win G. S. Soh S. Foong Optimized transition path of a transformable hovering rotorcraft (thor) in Proceedings of the 2018 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (IEEE 2018) pp. 460\u2013465.","DOI":"10.1109\/AIM.2018.8452703"},{"key":"e_1_3_3_40_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-021-03847-y"},{"key":"e_1_3_3_41_2","doi-asserted-by":"publisher","DOI":"10.2514\/8.11474"},{"key":"e_1_3_3_42_2","doi-asserted-by":"crossref","unstructured":"J. Nichols \u201cTip-mounted turbojets for helicopter propulsion\u2014A progress report\u201d (Technical Report SAE Technical Paper 1964).","DOI":"10.4271\/640345"},{"key":"e_1_3_3_43_2","doi-asserted-by":"crossref","unstructured":"J. Phillips An efficient tip jet drive in Aircraft Design and Operations Meeting (AIAA 1991) p. 3124.","DOI":"10.2514\/6.1991-3124"},{"key":"e_1_3_3_44_2","first-page":"112","article-title":"Experimental verification of performance of tip-jet helicopter propulsion system","volume":"32","author":"Kolarevi\u0107 N.","year":"2020","unstructured":"N. Kolarevi\u0107, S. Crnojevi\u0107, M. Stankovi\u0107, N. Latkovi\u0107, M. Milo\u0161, Experimental verification of performance of tip-jet helicopter propulsion system. Mater. Today 32, 112\u2013117 (2020).","journal-title":"Mater. Today"},{"key":"e_1_3_3_45_2","doi-asserted-by":"crossref","unstructured":"S. Bai P. Chirarattananon Design and take-off flight of a samara-inspired revolving-wing robot in Proceedings of the 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE 2019) pp. 6070\u20136076.","DOI":"10.1109\/IROS40897.2019.8967600"},{"key":"e_1_3_3_46_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cois.2020.09.008"},{"key":"e_1_3_3_47_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.abd3285"},{"key":"e_1_3_3_48_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.204.15.2607"},{"key":"e_1_3_3_49_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.013797"},{"key":"e_1_3_3_50_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/11\/3\/036005"},{"key":"e_1_3_3_51_2","doi-asserted-by":"crossref","unstructured":"E. Branlard Wind Turbine Aerodynamics and Vorticity-Based Methods (Springer 2017) vol. 10.","DOI":"10.1007\/978-3-319-55164-7"},{"key":"e_1_3_3_52_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.renene.2016.04.017"},{"key":"e_1_3_3_53_2","doi-asserted-by":"publisher","DOI":"10.2514\/1.6564"},{"key":"e_1_3_3_54_2","doi-asserted-by":"publisher","DOI":"10.2514\/1.B35240"},{"key":"e_1_3_3_55_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2019.0609"},{"key":"e_1_3_3_56_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.022269"},{"key":"e_1_3_3_57_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2633562"},{"key":"e_1_3_3_58_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc2897"},{"key":"e_1_3_3_59_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aay1246"},{"key":"e_1_3_3_60_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915596233"},{"key":"e_1_3_3_61_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-019-1322-0"},{"key":"e_1_3_3_62_2","doi-asserted-by":"crossref","unstructured":"M. Piccoli M. Yim Passive stability of vehicles without angular momentum including quadrotors and ornithopters in Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA) (IEEE 2015) pp. 1716\u20131721.","DOI":"10.1109\/ICRA.2015.7139419"},{"key":"e_1_3_3_63_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-017-9623-3"},{"key":"e_1_3_3_64_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.2894014"},{"key":"e_1_3_3_65_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2016.0870"},{"key":"e_1_3_3_66_2","doi-asserted-by":"publisher","DOI":"10.1007\/s41315-019-00091-6"},{"key":"e_1_3_3_67_2","unstructured":"F. H. F. Handbook U.S. Department of Transportation (2012); www.faa.gov."},{"key":"e_1_3_3_68_2","doi-asserted-by":"crossref","unstructured":"M. Piccoli M. Yim Passive stability of a single actuator micro aerial vehicle in Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA) (IEEE 2014) pp. 5510\u20135515.","DOI":"10.1109\/ICRA.2014.6907669"},{"key":"e_1_3_3_69_2","unstructured":"Bitcraze AB crazyflie 2.1; https:\/\/www.bitcraze.io\/products\/crazyflie-2-1\/[accessed 21 August 2021]."},{"key":"e_1_3_3_70_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911434236"},{"key":"e_1_3_3_71_2","doi-asserted-by":"crossref","unstructured":"S. Bai S. Tan P. Chirarattananon Splitflyer: A modular quadcoptor that disassembles into two flying robots in Proceedings of the 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE 2020) pp. 1207\u20131214.","DOI":"10.1109\/IROS45743.2020.9340797"},{"key":"e_1_3_3_72_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2776353"},{"key":"e_1_3_3_73_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3005127"},{"key":"e_1_3_3_74_2","doi-asserted-by":"publisher","DOI":"10.1177\/1756829318794972"},{"key":"e_1_3_3_75_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3059626"},{"key":"e_1_3_3_76_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/aaefa0"},{"key":"e_1_3_3_77_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2009.0200"},{"key":"e_1_3_3_78_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aal2505"},{"key":"e_1_3_3_79_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaz6262"},{"key":"e_1_3_3_80_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abb1502"},{"key":"e_1_3_3_81_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaw9710"},{"key":"e_1_3_3_82_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3048875"},{"key":"e_1_3_3_83_2","unstructured":"Bitcraze AB multi-ranger deck; www.bitcraze.io\/products\/multi-ranger-deck\/[accessed 26 August 2021]."},{"key":"e_1_3_3_84_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21729"},{"key":"e_1_3_3_85_2","doi-asserted-by":"crossref","unstructured":"T. Oktay C. Sultan Robustness of variance constrained controllers for complex control oriented helicopter models in 2013 American Control Conference (IEEE 2013) pp. 794\u2013799.","DOI":"10.1109\/ACC.2013.6579933"},{"key":"e_1_3_3_86_2","doi-asserted-by":"publisher","DOI":"10.2514\/1.G001490"},{"key":"e_1_3_3_87_2","unstructured":"E. R. Ulrich Design Developement Analysis and Control of a Bio-Inspired Robotic Samara Rotorcraft (University of Maryland College Park 2012)."},{"key":"e_1_3_3_88_2","doi-asserted-by":"crossref","unstructured":"R. B. Bramlette T. A. Johnston R. M. Barrett-Gonzalez Design construction and flight testing of the world\u2019s fastest micro-scale quadcopter in Proceedings of the 55th AIAA Aerospace Sciences Meeting (AIAA 2017) p. 0012.","DOI":"10.2514\/6.2017-0012"},{"key":"e_1_3_3_89_2","unstructured":"DJI tello; https:\/\/store.dji.com\/shop\/tello-series[accessed 21 August 2021]."},{"key":"e_1_3_3_90_2","unstructured":"Parrot mambo; https:\/\/support.parrot.com\/global\/support\/products\/parrot-mambo[accessed 21 August 2021]."}],"container-title":["Science Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/scirobotics.abg5913","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,16]],"date-time":"2024-01-16T12:56:45Z","timestamp":1705409805000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.abg5913"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,25]]},"references-count":89,"journal-issue":{"issue":"66","published-print":{"date-parts":[[2022,5,25]]}},"alternative-id":["10.1126\/scirobotics.abg5913"],"URL":"https:\/\/doi.org\/10.1126\/scirobotics.abg5913","relation":{},"ISSN":["2470-9476"],"issn-type":[{"value":"2470-9476","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,5,25]]},"article-number":"eabg5913"}}