{"id":"https://openalex.org/W4393372124","doi":"https://doi.org/10.1109/access.2024.3383774","title":"A Suspended Aerial Manipulation Avatar for Physical Interaction in Unstructured Environments","display_name":"A Suspended Aerial Manipulation Avatar for Physical Interaction in Unstructured Environments","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4393372124","doi":"https://doi.org/10.1109/access.2024.3383774"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3383774","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3383774","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10486907.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10486907.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5094294612","display_name":"Fanyi Kong","orcid":"https://orcid.org/0000-0001-9826-4474"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fanyi Kong","raw_affiliation_strings":["Centro di Ricerca E. Piaggio e Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-9826-4474","affiliations":[{"raw_affiliation_string":"Centro di Ricerca E. Piaggio e Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018686179","display_name":"Grazia Zambella","orcid":"https://orcid.org/0000-0001-7546-9135"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Grazia Zambella","raw_affiliation_strings":["Centro di Ricerca E. Piaggio e Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-7546-9135","affiliations":[{"raw_affiliation_string":"Centro di Ricerca E. Piaggio e Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077259449","display_name":"Simone Monteleone","orcid":"https://orcid.org/0000-0003-3493-5827"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simone Monteleone","raw_affiliation_strings":["Centro di Ricerca E. Piaggio e Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro di Ricerca E. Piaggio e Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079017232","display_name":"Giorgio Grioli","orcid":"https://orcid.org/0000-0002-5310-2997"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Grioli","raw_affiliation_strings":["Centro di Ricerca E. Piaggio e Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro di Ricerca E. Piaggio e Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056194661","display_name":"Manuel G. Catalano","orcid":"https://orcid.org/0000-0003-1950-6186"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manuel G. Catalano","raw_affiliation_strings":["Fondazione Istituto Italiano di Tecnologia, Genoa, Italy","Fondazione Istituto Italiano di Tecnologia, Via Morego 30, Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1950-6186","affiliations":[{"raw_affiliation_string":"Fondazione Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Fondazione Istituto Italiano di Tecnologia, Via Morego 30, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Centro di Ricerca E. Piaggio e Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8635-5571","affiliations":[{"raw_affiliation_string":"Centro di Ricerca E. Piaggio e Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.678,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.81293605,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"12","issue":null,"first_page":"48108","last_page":"48125"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/avatar","display_name":"Avatar","score":0.7801533937454224},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6745325922966003},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5669389367103577},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3291946053504944}],"concepts":[{"id":"https://openalex.org/C2777365542","wikidata":"https://www.wikidata.org/wiki/Q83090","display_name":"Avatar","level":2,"score":0.7801533937454224},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6745325922966003},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5669389367103577},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3291946053504944}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2024.3383774","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3383774","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10486907.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:arpi.unipi.it:11568/1301548","is_oa":false,"landing_page_url":"https://hdl.handle.net/11568/1301548","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:ae067889a9674ba9b3c266f624213608","is_oa":true,"landing_page_url":"https://doaj.org/article/ae067889a9674ba9b3c266f624213608","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 48108-48125 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3383774","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3383774","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10486907.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4393372124.pdf","grobid_xml":"https://content.openalex.org/works/W4393372124.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W2008364784","https://openalex.org/W2109656638","https://openalex.org/W2113265921","https://openalex.org/W2120630110","https://openalex.org/W2137427741","https://openalex.org/W2147492425","https://openalex.org/W2164575107","https://openalex.org/W2565747152","https://openalex.org/W2762764329","https://openalex.org/W2788319054","https://openalex.org/W2792083172","https://openalex.org/W2802644971","https://openalex.org/W2836377052","https://openalex.org/W2891005336","https://openalex.org/W2891980678","https://openalex.org/W2911034380","https://openalex.org/W2949553586","https://openalex.org/W2967319184","https://openalex.org/W2985737069","https://openalex.org/W2986744950","https://openalex.org/W3005101058","https://openalex.org/W3021901191","https://openalex.org/W3022417481","https://openalex.org/W3091218135","https://openalex.org/W3091609937","https://openalex.org/W3111792437","https://openalex.org/W3156264578","https://openalex.org/W3166944604","https://openalex.org/W3174123873","https://openalex.org/W3191895947","https://openalex.org/W3209380730","https://openalex.org/W4223486189","https://openalex.org/W4312593753","https://openalex.org/W6848482826"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W3138471234","https://openalex.org/W4247958311","https://openalex.org/W2785089443","https://openalex.org/W2265117524","https://openalex.org/W4312431072","https://openalex.org/W1467576422","https://openalex.org/W3196465490","https://openalex.org/W2167654528"],"abstract_inverted_index":{"This":[0,21],"paper":[1],"presents":[2],"an":[3,169],"aerial":[4,22,105,162],"platform":[5,23],"capable":[6],"of":[7,25,68,89,103,115],"performing":[8],"physically":[9],"interactive":[10],"tasks":[11],"in":[12,75,94,215],"unstructured":[13],"environments":[14],"with":[15,39,96,126],"human-like":[16],"dexterity":[17,44],"under":[18],"human":[19,47],"supervision.":[20],"consists":[24],"a":[26,31,127,130,133,135,138,142,154,197,203],"humanoid":[27,122,186,192],"torso":[28],"attached":[29],"to":[30,45,49,82,129,147,174],"hexacopter.Atwo-degree-of-freedom":[32],"head":[33,187],"and":[34,107,150,165,183,188],"two":[35],"five-degree-of-freedom":[36],"arms":[37],"equipped":[38],"softhands":[40],"provide":[41,80],"the":[42,62,66,72,83,87,90,97,101,104,108,113,120,161,176,180,185],"requisite":[43],"allow":[46],"operators":[48],"carry":[50],"out":[51],"various":[52],"tasks.":[53,220],"A":[54],"robust":[55],"tendon-driven":[56],"structure":[57],"is":[58,211],"purposefully":[59],"designed":[60],"for":[61,160,179,184],"arms,":[63],"considerably":[64],"reducing":[65],"impact":[67],"arm":[69,91,189],"inertia":[70],"on":[71],"floating":[73],"base":[74,163],"motion.":[76],"In":[77],"addition,":[78],"tendons":[79],"flexibility":[81],"joints,":[84],"which":[85],"enhances":[86],"robustness":[88],"preventing":[92],"damage":[93],"interaction":[95],"environment.":[98],"To":[99],"increase":[100],"payload":[102],"system":[106,210],"battery":[109],"life,":[110],"we":[111,152],"use":[112],"concept":[114],"Suspended":[116,204],"Aerial":[117,205],"Manipulation,":[118],"i.e.,":[119],"flying":[121],"can":[123,193],"be":[124,194],"connected":[125],"tether":[128,181],"structure,":[131],"e.g.,":[132],"building,":[134],"fixed":[136],"bracket,":[137],"supporting":[139],"crane,":[140],"or":[141],"larger":[143],"airborne":[144],"carrier.":[145],"Importantly,":[146],"maximize":[148],"portability":[149],"applicability,":[151],"adopt":[153],"modular":[155],"approach":[156],"exploiting":[157],"commercial":[158],"components":[159],"hardware":[164],"autopilot,":[166],"while":[167],"developing":[168],"outer":[170],"stabilizing":[171],"control":[172],"loop":[173],"maintain":[175],"attitude,":[177],"compensating":[178],"force":[182],"motions.":[190],"The":[191,208],"controlled":[195],"by":[196],"remote":[198],"operator,":[199],"thus":[200],"effectively":[201],"realizing":[202],"Manipulation":[206],"Avatar.":[207],"proposed":[209],"validated":[212],"through":[213],"experiments":[214],"indoor":[216],"scenarios":[217],"reproducing":[218],"post-disaster":[219]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}