{"id":"https://openalex.org/W3091449597","doi":"https://doi.org/10.1109/icra40945.2020.9196576","title":"Aerial Regrasping: Pivoting with Transformable Multilink Aerial Robot","display_name":"Aerial Regrasping: Pivoting with Transformable Multilink Aerial Robot","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3091449597","doi":"https://doi.org/10.1109/icra40945.2020.9196576","mag":"3091449597"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196576","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196576","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5043420881","display_name":"Fan Shi","orcid":"https://orcid.org/0000-0002-9202-1727"},"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":true,"raw_author_name":"Fan Shi","raw_affiliation_strings":["Department of Creative-Infomatics, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Creative-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","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 Creative-Infomatics, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Creative-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066818005","display_name":"Masaki Murooka","orcid":"https://orcid.org/0000-0002-1258-0431"},"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":"Masaki Murooka","raw_affiliation_strings":["Department of Creative-Infomatics, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Creative-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 Creative-Infomatics, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Creative-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 Creative-Infomatics, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Creative-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5043420881"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":2.7952,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.90607985,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"200","last_page":"207"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9987999796867371,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9969000220298767,"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/wrench","display_name":"Wrench","score":0.6161530017852783},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5891917943954468},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5508254170417786},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.531231701374054},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49206823110580444},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.46975019574165344},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.458343505859375},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45488572120666504},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45393311977386475},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42112982273101807},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4206407368183136},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41859710216522217},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3438754081726074},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13965663313865662},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08154702186584473}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.6161530017852783},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5891917943954468},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5508254170417786},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.531231701374054},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49206823110580444},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.46975019574165344},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.458343505859375},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45488572120666504},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45393311977386475},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42112982273101807},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4206407368183136},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41859710216522217},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3438754081726074},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13965663313865662},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08154702186584473},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9196576","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196576","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1530121035","https://openalex.org/W1967377907","https://openalex.org/W2001273675","https://openalex.org/W2008793719","https://openalex.org/W2012252652","https://openalex.org/W2013439434","https://openalex.org/W2013467411","https://openalex.org/W2061343052","https://openalex.org/W2065576483","https://openalex.org/W2075203541","https://openalex.org/W2103237766","https://openalex.org/W2119599739","https://openalex.org/W2126701792","https://openalex.org/W2129787803","https://openalex.org/W2130543495","https://openalex.org/W2219720796","https://openalex.org/W2225490378","https://openalex.org/W2408464251","https://openalex.org/W2585814306","https://openalex.org/W2604108870","https://openalex.org/W2735140382","https://openalex.org/W2762878490","https://openalex.org/W2771354076","https://openalex.org/W2783007554","https://openalex.org/W2792083172","https://openalex.org/W2794235589","https://openalex.org/W2794308024","https://openalex.org/W2810622842","https://openalex.org/W2889713206","https://openalex.org/W2891970369","https://openalex.org/W2901402208","https://openalex.org/W2905560833","https://openalex.org/W2909983946","https://openalex.org/W2918308866","https://openalex.org/W2954055669","https://openalex.org/W2967307648","https://openalex.org/W2968957110","https://openalex.org/W2971741202","https://openalex.org/W3023621430","https://openalex.org/W3099548126","https://openalex.org/W3102408685","https://openalex.org/W3105264685","https://openalex.org/W3139610437","https://openalex.org/W4230504900","https://openalex.org/W4231359497","https://openalex.org/W6666890642","https://openalex.org/W6777379981"],"related_works":["https://openalex.org/W3114548899","https://openalex.org/W2067759762","https://openalex.org/W4205162136","https://openalex.org/W4245224694","https://openalex.org/W813487984","https://openalex.org/W2501112123","https://openalex.org/W4255565706","https://openalex.org/W4244323852","https://openalex.org/W2105224164","https://openalex.org/W2785665096"],"abstract_inverted_index":{"Regrasping":[0],"is":[1,51,117,140,165],"one":[2,52],"of":[3,27,53,85,97,130],"the":[4,28,37,54,76,82,95,107,111,125,131,136,147,166],"most":[5,26,55],"common":[6],"and":[7,100,139,153],"important":[8],"manipulation":[9,33],"skills":[10],"used":[11],"in":[12,110,128,150,156],"our":[13,70,86],"daily":[14],"life.":[15],"However,":[16],"aerial":[17,29,65,176],"regrasping":[18,59,173],"has":[19],"not":[20],"been":[21],"seriously":[22],"investigated":[23],"yet,":[24],"since":[25],"manipulator":[30],"lacks":[31],"dexterous":[32],"abilities":[34],"except":[35],"for":[36,75,90],"basic":[38],"pick-and-place.":[39],"In":[40],"this":[41],"paper,":[42],"we":[43,68,80,104,145,162],"focus":[44],"on":[45,175],"pivoting":[46,112],"a":[47,62],"long":[48],"box,":[49],"which":[50,133],"classical":[56],"problems":[57],"among":[58],"researches,":[60],"using":[61],"transformable":[63,87],"multilink":[64,88],"robot.":[66],"First,":[67],"improve":[69],"previous":[71],"controller":[72,149,155],"by":[73],"compensating":[74],"external":[77],"wrench.":[78],"Second,":[79],"optimize":[81,106],"joints":[83,101],"configuration":[84],"drone":[89],"stable":[91],"grasping":[92,108,121],"form":[93],"under":[94],"constraints":[96],"thrust":[98],"force":[99,109,122,127],"effort.":[102],"Third,":[103],"sequentially":[105],"process.":[113],"The":[114],"optimization":[115],"goal":[116],"to":[118,142,169],"generate":[119],"continous":[120],"whilst":[123],"maximizing":[124],"friction":[126],"case":[129],"downwash,":[132],"would":[134],"influence":[135],"grasped":[137],"object":[138],"difficult":[141],"model.":[143],"Fourth,":[144],"develop":[146],"impedance":[148],"joint":[151],"space":[152],"admittance":[154],"task":[157,174],"space.":[158],"As":[159],"far":[160],"as":[161],"know,":[163],"it":[164],"first":[167],"research":[168],"achieve":[170],"extrinsic":[171],"contact-aware":[172],"robots.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}