{"id":"https://openalex.org/W2739397999","doi":"https://doi.org/10.1109/icra.2017.7989606","title":"Whole-body aerial manipulation by transformable multirotor with two-dimensional multilinks","display_name":"Whole-body aerial manipulation by transformable multirotor with two-dimensional multilinks","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2739397999","doi":"https://doi.org/10.1109/icra.2017.7989606","mag":"2739397999"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989606","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989606","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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/A5045076994","display_name":"Moju Zhao","orcid":"https://orcid.org/0000-0001-8361-5825"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Moju Zhao","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102792995","display_name":"Koji Kawasaki","orcid":"https://orcid.org/0000-0001-7807-8420"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koji Kawasaki","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100776496","display_name":"Xiangyu Chen","orcid":"https://orcid.org/0000-0001-5858-5679"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Xiangyu Chen","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024076633","display_name":"Shintaro Noda","orcid":"https://orcid.org/0000-0001-7428-9837"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shintaro Noda","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836795","display_name":"Kei Okada","orcid":"https://orcid.org/0000-0001-6606-6692"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Okada","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3093,"has_fulltext":false,"cited_by_count":92,"citation_normalized_percentile":{"value":0.93368509,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5175","last_page":"5182"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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/grasp","display_name":"GRASP","score":0.8611701130867004},{"id":"https://openalex.org/keywords/multirotor","display_name":"Multirotor","score":0.7445342540740967},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6470314860343933},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6234431266784668},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5978009700775146},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5839259624481201},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5705822706222534},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5091666579246521},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4669683277606964},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.44464296102523804},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4352218210697174},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25786253809928894}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8611701130867004},{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.7445342540740967},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6470314860343933},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6234431266784668},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5978009700775146},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5839259624481201},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5705822706222534},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5091666579246521},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4669683277606964},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.44464296102523804},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4352218210697174},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25786253809928894},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989606","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989606","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7099999785423279}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W173264240","https://openalex.org/W1548040463","https://openalex.org/W1969742965","https://openalex.org/W1985641335","https://openalex.org/W2007554064","https://openalex.org/W2012252652","https://openalex.org/W2013439434","https://openalex.org/W2037011962","https://openalex.org/W2043164756","https://openalex.org/W2063058034","https://openalex.org/W2121385616","https://openalex.org/W2126369258","https://openalex.org/W2138396958","https://openalex.org/W2148182166","https://openalex.org/W2153357054","https://openalex.org/W2204124519","https://openalex.org/W2313767655","https://openalex.org/W2319644052","https://openalex.org/W2368657857","https://openalex.org/W4230504900"],"related_works":["https://openalex.org/W2728521155","https://openalex.org/W2556504211","https://openalex.org/W2810775292","https://openalex.org/W3150660900","https://openalex.org/W2625580943","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W4287201739"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,131],"introduce":[4],"the":[5,8,13,59,64,70,76,83,86,93,98,109,112,117,125,128,133,137,153],"achievement":[6],"of":[7,16,22,85,111,116,136,148,155],"aerial":[9,19,28,42,99,118,138,156],"manipulation":[10,139],"by":[11,35],"using":[12],"whole":[14],"body":[15],"a":[17,40,54],"transformable":[18],"robot,":[20],"instead":[21],"attaching":[23],"an":[24,49],"additional":[25],"manipulator.":[26],"The":[27],"robot":[29,119],"in":[30],"our":[31,160],"work":[32],"is":[33,73,106],"composed":[34],"two-dimensional":[36],"multilinks":[37,65],"which":[38,72,105,140],"enable":[39],"stable":[41],"transformation":[43],"and":[44,89,101,114,122,144,165],"can":[45],"be":[46],"employed":[47],"as":[48],"entire":[50],"gripper.":[51],"We":[52,95],"propose":[53,97],"planning":[55,164],"method":[56],"to":[57,108,120],"find":[58],"optimized":[60],"grasping":[61,157],"form":[62,113],"for":[63,92],"while":[66],"they":[67],"are":[68],"on":[69,75,159],"air,":[71],"based":[74,158],"original":[77],"planar":[78],"enveloping":[79],"algorithm,":[80],"along":[81],"with":[82],"optimization":[84],"internal":[87],"force":[88],"joint":[90],"torque":[91],"force-closure.":[94],"then":[96],"approach":[100,121],"grasp":[102,123,163],"motion":[103,166],"strategy,":[104],"devoted":[107],"determination":[110],"position":[115],"effectively":[124],"object":[126],"from":[127],"air.":[129],"Finally":[130],"present":[132],"experimental":[134],"results":[135,151],"involves":[141],"grasping,":[142],"carrying":[143],"dropping":[145],"different":[146],"types":[147],"object.":[149],"These":[150],"validate":[152],"performance":[154],"proposed":[161],"whole-body":[162],"control":[167],"method.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":20},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}