{"id":"https://openalex.org/W2946906720","doi":"https://doi.org/10.1109/icmech.2019.8722898","title":"Experimental Validation of Contact Force Control of Quadrotor Based on Rotor Angular Acceleration Control","display_name":"Experimental Validation of Contact Force Control of Quadrotor Based on Rotor Angular Acceleration Control","publication_year":2019,"publication_date":"2019-03-01","ids":{"openalex":"https://openalex.org/W2946906720","doi":"https://doi.org/10.1109/icmech.2019.8722898","mag":"2946906720"},"language":"en","primary_location":{"id":"doi:10.1109/icmech.2019.8722898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2019.8722898","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Mechatronics (ICM)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072079110","display_name":"Yuki Hayashi","orcid":"https://orcid.org/0000-0001-6317-2182"},"institutions":[{"id":"https://openalex.org/I178574317","display_name":"Mie University","ror":"https://ror.org/01529vy56","country_code":"JP","type":"education","lineage":["https://openalex.org/I178574317"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yuki Hayashi","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Mie University, Mie, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Mie University, Mie, Japan","institution_ids":["https://openalex.org/I178574317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079416103","display_name":"Daisuke Yashiro","orcid":"https://orcid.org/0000-0002-8679-9858"},"institutions":[{"id":"https://openalex.org/I178574317","display_name":"Mie University","ror":"https://ror.org/01529vy56","country_code":"JP","type":"education","lineage":["https://openalex.org/I178574317"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Daisuke Yashiro","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Mie University, Mie, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Mie University, Mie, Japan","institution_ids":["https://openalex.org/I178574317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084002618","display_name":"Kazuhiro Yubai","orcid":null},"institutions":[{"id":"https://openalex.org/I178574317","display_name":"Mie University","ror":"https://ror.org/01529vy56","country_code":"JP","type":"education","lineage":["https://openalex.org/I178574317"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuhiro Yubai","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Mie University, Mie, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Mie University, Mie, Japan","institution_ids":["https://openalex.org/I178574317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113603804","display_name":"Satoshi Komada","orcid":null},"institutions":[{"id":"https://openalex.org/I178574317","display_name":"Mie University","ror":"https://ror.org/01529vy56","country_code":"JP","type":"education","lineage":["https://openalex.org/I178574317"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Komada","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Mie University, Mie, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Mie University, Mie, Japan","institution_ids":["https://openalex.org/I178574317"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5072079110"],"corresponding_institution_ids":["https://openalex.org/I178574317"],"apc_list":null,"apc_paid":null,"fwci":0.8742,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.71250012,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"684","last_page":"689"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9986000061035156,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/acceleration","display_name":"Acceleration","score":0.7648890018463135},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6640504598617554},{"id":"https://openalex.org/keywords/angular-acceleration","display_name":"Angular acceleration","score":0.648017942905426},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.6469012498855591},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5892552733421326},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.5808095335960388},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5251754522323608},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.47945109009742737},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38514384627342224},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37075746059417725},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35127389430999756},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.33257749676704407},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.30348461866378784},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1318337321281433},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.0740399956703186},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.071260005235672}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7648890018463135},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6640504598617554},{"id":"https://openalex.org/C190704821","wikidata":"https://www.wikidata.org/wiki/Q186300","display_name":"Angular acceleration","level":3,"score":0.648017942905426},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.6469012498855591},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5892552733421326},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5808095335960388},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5251754522323608},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.47945109009742737},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38514384627342224},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37075746059417725},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35127389430999756},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.33257749676704407},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30348461866378784},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1318337321281433},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0740399956703186},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.071260005235672},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icmech.2019.8722898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2019.8722898","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Mechatronics (ICM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1522337296","https://openalex.org/W1536040874","https://openalex.org/W2016958754","https://openalex.org/W2071808624","https://openalex.org/W2418601359","https://openalex.org/W2560781825","https://openalex.org/W2611988034","https://openalex.org/W2793578514"],"related_works":["https://openalex.org/W4280531291","https://openalex.org/W4396851758","https://openalex.org/W123316752","https://openalex.org/W2628866709","https://openalex.org/W1998712660","https://openalex.org/W2275557598","https://openalex.org/W1510705688","https://openalex.org/W2322149471","https://openalex.org/W2363911845","https://openalex.org/W3134829590"],"abstract_inverted_index":{"In":[0,34],"recent":[1],"years,":[2],"electric":[3],"helicopters":[4],"are":[5],"applied":[6],"for":[7],"many":[8],"tasks":[9],"due":[10],"to":[11],"their":[12],"characteristics,":[13],"and":[14,83],"contact":[15,38,67],"force":[16,39,68],"control":[17,28,32,40,52,59,69,77],"with":[18],"the":[19],"environment":[20],"using":[21,42],"them":[22],"has":[23],"been":[24],"also":[25],"studied.":[26],"Conventional":[27],"systems":[29,53],"have":[30],"low":[31],"performance.":[33],"this":[35],"paper,":[36],"a":[37,43],"system":[41,63,78],"quadrotor":[44],"helicopter":[45],"which":[46],"includes":[47],"closed-loop":[48],"rotor":[49,56],"angular":[50,57],"velocity":[51],"based":[54],"on":[55],"acceleration":[58],"is":[60,79],"proposed.":[61],"The":[62,73],"achieves":[64],"more":[65],"accurate":[66],"in":[70],"3-dimensional":[71],"space.":[72],"validity":[74],"of":[75],"proposed":[76],"verified":[80],"by":[81],"simulation":[82],"experiment.":[84]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
