{"id":"https://openalex.org/W4323832785","doi":"https://doi.org/10.1080/01691864.2023.2185813","title":"Design and experimental verification of a hoverable quadrotor composed of only clockwise rotors","display_name":"Design and experimental verification of a hoverable quadrotor composed of only clockwise rotors","publication_year":2023,"publication_date":"2023-03-10","ids":{"openalex":"https://openalex.org/W4323832785","doi":"https://doi.org/10.1080/01691864.2023.2185813"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2023.2185813","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2023.2185813","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1080/01691864.2023.2185813","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054651827","display_name":"Takumi Ito","orcid":"https://orcid.org/0009-0000-0506-9953"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takumi Ito","raw_affiliation_strings":["School of Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0000-0506-9953","affiliations":[{"raw_affiliation_string":"School of Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048721574","display_name":"Riku Funada","orcid":"https://orcid.org/0000-0002-7538-8471"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Riku Funada","raw_affiliation_strings":["School of Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7538-8471","affiliations":[{"raw_affiliation_string":"School of Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007241649","display_name":"Shunsuke Mochida","orcid":"https://orcid.org/0000-0001-8290-5708"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shunsuke Mochida","raw_affiliation_strings":["School of Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0001-8290-5708","affiliations":[{"raw_affiliation_string":"School of Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074221272","display_name":"Takahiro Kawagoe","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahiro Kawagoe","raw_affiliation_strings":["School of Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054187878","display_name":"Tatsuya Ibuki","orcid":"https://orcid.org/0000-0003-1525-1024"},"institutions":[{"id":"https://openalex.org/I16656306","display_name":"Meiji University","ror":"https://ror.org/02rqvrp93","country_code":"JP","type":"education","lineage":["https://openalex.org/I16656306"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsuya Ibuki","raw_affiliation_strings":["School of Science and Technology, Meiji University, Kanagawa, Japan"],"raw_orcid":"https://orcid.org/0000-0003-1525-1024","affiliations":[{"raw_affiliation_string":"School of Science and Technology, Meiji University, Kanagawa, Japan","institution_ids":["https://openalex.org/I16656306"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054252577","display_name":"Mitsuji Sampei","orcid":"https://orcid.org/0000-0002-3478-8399"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuji Sampei","raw_affiliation_strings":["School of Engineering, Tokyo Institute of Technology, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3478-8399","affiliations":[{"raw_affiliation_string":"School of Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5054651827"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":0.7152,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.6880208,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"37","issue":"10","first_page":"667","last_page":"678"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9887999892234802,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9868000149726868,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.7990787625312805},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.7785253524780273},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6528142094612122},{"id":"https://openalex.org/keywords/clockwise","display_name":"Clockwise","score":0.6022484302520752},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5521242022514343},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4619711935520172},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3746206760406494},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.3494434356689453},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.27947962284088135},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21599715948104858},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11012789607048035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07880449295043945},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.056495219469070435}],"concepts":[{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.7990787625312805},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.7785253524780273},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6528142094612122},{"id":"https://openalex.org/C70026782","wikidata":"https://www.wikidata.org/wiki/Q16726164","display_name":"Clockwise","level":3,"score":0.6022484302520752},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5521242022514343},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4619711935520172},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3746206760406494},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.3494434356689453},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.27947962284088135},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21599715948104858},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11012789607048035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07880449295043945},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.056495219469070435},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2023.2185813","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2023.2185813","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1080/01691864.2023.2185813","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2023.2185813","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7057696207","display_name":null,"funder_award_id":"21H01348","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1584143882","https://openalex.org/W2051155887","https://openalex.org/W2062803637","https://openalex.org/W2098536261","https://openalex.org/W2289017747","https://openalex.org/W2418601359","https://openalex.org/W2893573101","https://openalex.org/W2901925094","https://openalex.org/W2914097399","https://openalex.org/W2963089940","https://openalex.org/W2966945592","https://openalex.org/W2979356185","https://openalex.org/W2983056308","https://openalex.org/W3127176660","https://openalex.org/W3151488434","https://openalex.org/W4312331965"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W1952954847","https://openalex.org/W2036697162","https://openalex.org/W2012959253","https://openalex.org/W2056231124","https://openalex.org/W2124066649","https://openalex.org/W2593939335","https://openalex.org/W2046912998","https://openalex.org/W2007200854","https://openalex.org/W2045691253"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,7,21,31,119],"novel":[4],"structure":[5],"for":[6,30,63,73],"quadrotor,":[8],"making":[9],"it":[10,19],"hover":[11],"only":[12],"with":[13,88],"clockwise":[14],"rotors,":[15,104],"where":[16],"we":[17,38],"denote":[18],"as":[20,116],"4P":[22,32,68],"(Positive)":[23],"rotor.":[24,69],"We":[25],"first":[26],"investigate":[27],"the":[28,40,48,54,64,67,74,89,97,102,106,114],"condition":[29,72],"rotor":[33,59],"to":[34,47,80,95,109],"hover.":[35],"More":[36],"specifically,":[37],"conduct":[39],"hoverability":[41,65,123],"analysis,":[42,50],"which":[43],"is":[44,77,86,94,108,130],"closely":[45],"related":[46],"controllability":[49],"and":[51,105,124,134],"show":[52],"that":[53,117],"tilting":[55,75],"angles":[56,76],"of":[57,66,118,127],"each":[58],"are":[60],"crucial":[61],"conditions":[62],"The":[70,122],"derived":[71],"then":[78],"utilized":[79],"present":[81],"two":[82],"prototypes.":[83],"Each":[84],"prototype":[85,129],"developed":[87],"following":[90],"design":[91],"purposes:":[92],"One":[93],"reduce":[96],"horizontal":[98],"force":[99],"generated":[100],"by":[101],"tilted":[103],"other":[107],"make":[110],"its":[111],"torque":[112],"generation":[113],"same":[115],"standard":[120],"quadrotor.":[121],"dynamical":[125],"property":[126],"both":[128],"demonstrated":[131],"in":[132],"simulations":[133],"experiments.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-29T09:16:38.111599","created_date":"2025-10-10T00:00:00"}