{"paper":{"title":"Design of the first sub-milligram flapping wing aerial vehicle","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Claire Tomlin, Palak Bhushan","submitted_at":"2019-08-09T02:38:47Z","abstract_excerpt":"Here we report the first sub-milligram flapping wing vehicle which is able to mimic insect wing kinematics. Wing stroke amplitude of 90$^\\circ$ and wing pitch amplitude of 80$^\\circ$ is demonstrated. This is also the smallest wing-span (single wing length of 3.5mm) device reported yet and is at the same mass-scale as a fruit fly. Assembly has been made simple and requires gluing together 5 components in contrast to higher part count and intensive assembly of other milligram-scale microrobots. This increases the fabrication speed and success-rate of the fully fabricated device. Low operational "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.03203","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/1908.03203/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}