{"id":"https://openalex.org/W1608087688","doi":"https://doi.org/10.1109/icra.2015.7139280","title":"Design, identification and experimental testing of a light-weight flexible-joint arm for aerial physical interaction","display_name":"Design, identification and experimental testing of a light-weight flexible-joint arm for aerial physical interaction","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1608087688","doi":"https://doi.org/10.1109/icra.2015.7139280","mag":"1608087688"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139280","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11380/1113323","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089197093","display_name":"Burak Y\u00fcksel","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112925","display_name":"Max Planck Institute for Biological Cybernetics","ror":"https://ror.org/026nmvv73","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210112925"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Burak Yuksel","raw_affiliation_strings":["Max Planck Institute for Biological Cybernetics, T\u00fcbingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Biological Cybernetics, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210112925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024645369","display_name":"Saber Mahboubi","orcid":"https://orcid.org/0000-0002-1915-9164"},"institutions":[{"id":"https://openalex.org/I4210112925","display_name":"Max Planck Institute for Biological Cybernetics","ror":"https://ror.org/026nmvv73","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210112925"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Saber Mahboubi","raw_affiliation_strings":["Max Planck Institute for Biological Cybernetics, T\u00fcbingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Biological Cybernetics, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210112925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032100434","display_name":"Cristian Secchi","orcid":"https://orcid.org/0000-0002-2098-0099"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cristian Secchi","raw_affiliation_strings":["DISMI-University of Modena and Reggio Emilia, Reggio Emilia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DISMI-University of Modena and Reggio Emilia, Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000138876","display_name":"HH B\u00fclthoff","orcid":"https://orcid.org/0000-0003-2568-0607"},"institutions":[{"id":"https://openalex.org/I4210112925","display_name":"Max Planck Institute for Biological Cybernetics","ror":"https://ror.org/026nmvv73","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210112925"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Heinrich H. Bulthoff","raw_affiliation_strings":["Max Planck Institute for Biological Cybernetics, T\u00fcbingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Biological Cybernetics, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210112925"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001771133","display_name":"Antonio Franchi","orcid":"https://orcid.org/0000-0002-5670-1282"},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Antonio Franchi","raw_affiliation_strings":["CNRS, LAAS, Toulouse, France","Univ de Toulouse, LAAS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Univ de Toulouse, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5089197093"],"corresponding_institution_ids":["https://openalex.org/I4210112925"],"apc_list":null,"apc_paid":null,"fwci":2.5461,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.88517351,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"870","last_page":"876"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9958000183105469,"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/pulley","display_name":"Pulley","score":0.9323163032531738},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.793701708316803},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5904695391654968},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5805696249008179},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.5326371192932129},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.5306189060211182},{"id":"https://openalex.org/keywords/throwing","display_name":"Throwing","score":0.528615415096283},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.513039231300354},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.48706725239753723},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48241719603538513},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4452713429927826},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3591988682746887},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33183979988098145},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.28965771198272705},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.27127283811569214},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2488909363746643},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18516087532043457},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16772156953811646}],"concepts":[{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.9323163032531738},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.793701708316803},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5904695391654968},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5805696249008179},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.5326371192932129},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.5306189060211182},{"id":"https://openalex.org/C207451115","wikidata":"https://www.wikidata.org/wiki/Q12898216","display_name":"Throwing","level":2,"score":0.528615415096283},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.513039231300354},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.48706725239753723},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48241719603538513},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4452713429927826},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3591988682746887},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33183979988098145},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.28965771198272705},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.27127283811569214},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2488909363746643},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18516087532043457},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16772156953811646}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2015.7139280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139280","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.704.4093","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.704.4093","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://homepages.laas.fr/afranchi/robotics/sites/default/files/2015f-YueMahSecBueFra-preprint_0.pdf","raw_type":"text"},{"id":"pmh:oai:iris.unimore.it:11380/1113323","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/1113323","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:iris.unimore.it:11380/1113323","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/1113323","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1963840845","https://openalex.org/W1965324089","https://openalex.org/W1998113982","https://openalex.org/W2008793719","https://openalex.org/W2012578657","https://openalex.org/W2019896740","https://openalex.org/W2021101383","https://openalex.org/W2022965255","https://openalex.org/W2027333285","https://openalex.org/W2050592409","https://openalex.org/W2067103553","https://openalex.org/W2071808624","https://openalex.org/W2077981455","https://openalex.org/W2078580336","https://openalex.org/W2095571137","https://openalex.org/W2115519567","https://openalex.org/W2120320883","https://openalex.org/W2169100281","https://openalex.org/W2901136733","https://openalex.org/W6641780247","https://openalex.org/W6655188812","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2548273422","https://openalex.org/W2248405876","https://openalex.org/W4214763373","https://openalex.org/W2585174520","https://openalex.org/W2276125791","https://openalex.org/W3164052694","https://openalex.org/W2115261773","https://openalex.org/W2560931257","https://openalex.org/W2021648837","https://openalex.org/W3163759358"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"introduce":[4],"the":[5,29,39,76,86,90,138,149,155,174],"design":[6,162],"of":[7,41,55,89,105],"a":[8,35,61,65,72,114,125],"light-weight":[9,14,115],"novel":[10],"flexible-joint":[11,120],"arm":[12,121],"for":[13,24,45,145],"unmanned":[15],"aerial":[16,131],"vehicles":[17],"(UAVs),":[18],"which":[19,68,135,152],"can":[20,110,141],"be":[21,111,128,143],"used":[22,129,144],"both":[23],"safe":[25],"physical":[26,87,132],"interaction":[27,133,147],"with":[28],"environment":[30],"and":[31,75,92,158,168],"it":[32],"represents":[33],"also":[34,142],"preliminary":[36],"step":[37],"in":[38,130,173],"direction":[40],"performing":[42],"quick":[43],"motions":[44],"tasks":[46],"such":[47],"as":[48],"hammering":[49],"or":[50],"throwing.":[51],"The":[52,108,119,161],"actuator":[53],"consists":[54],"an":[56,94],"active":[57],"pulley":[58,67],"driven":[59],"by":[60,102],"rotational":[62],"servo":[63],"motor,":[64],"passive":[66],"is":[69,122,163],"attached":[70],"to":[71,98,113,127],"rigid":[73],"link,":[74],"elastic":[77,106,139],"connections":[78],"(springs)":[79],"between":[80],"these":[81],"two":[82],"pulleys.":[83],"We":[84],"identify":[85],"parameters":[88],"system,":[91],"use":[93],"optimal":[95],"control":[96],"strategy":[97],"maximize":[99],"its":[100,159],"velocity":[101],"taking":[103],"advantage":[104],"components.":[107],"prototype":[109],"extended":[112],"variable":[116],"stiffness":[117],"actuator.":[118],"applied":[123],"on":[124],"quadrotor,":[126],"tasks,":[134],"implies":[136],"that":[137],"components":[140],"stable":[146],"absorbing":[148],"interactive":[150],"disturbances":[151],"might":[153],"damage":[154],"flying":[156],"system":[157],"hardware.":[160],"validated":[164],"through":[165],"several":[166],"experiments,":[167],"future":[169],"developments":[170],"are":[171],"discussed":[172],"paper.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":4}],"updated_date":"2026-06-03T09:05:47.796612","created_date":"2025-10-10T00:00:00"}