{"id":"https://openalex.org/W4413918435","doi":"https://doi.org/10.1109/icra55743.2025.11128779","title":"TrofyBot: A Transformable Rolling and Flying Robot with High Energy Efficiency","display_name":"TrofyBot: A Transformable Rolling and Flying Robot with High Energy Efficiency","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413918435","doi":"https://doi.org/10.1109/icra55743.2025.11128779"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128779","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128779","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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":null,"display_name":"Mingwei Lai","orcid":null},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingwei Lai","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China,313000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China,313000","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090661616","display_name":"Yuqian Ye","orcid":"https://orcid.org/0000-0001-6791-0496"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuqian Ye","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China,313000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China,313000","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066591169","display_name":"Hanyu Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanyu Wu","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China,313000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China,313000","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119514750","display_name":"Chice Xuan","orcid":null},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chice Xuan","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China,313000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China,313000","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101415618","display_name":"Ruibin Zhang","orcid":"https://orcid.org/0000-0002-0616-1273"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruibin Zhang","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China,313000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China,313000","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Qiuyu Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiuyu Ren","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China,313000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China,313000","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050543156","display_name":"Chao Xu","orcid":"https://orcid.org/0000-0002-2759-6364"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Xu","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China,313000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China,313000","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086914377","display_name":"Fei Gao","orcid":"https://orcid.org/0000-0002-6513-374X"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Gao","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China,313000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China,313000","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052272297","display_name":"Yanjun Cao","orcid":"https://orcid.org/0000-0001-7771-849X"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjun Cao","raw_affiliation_strings":["Huzhou Institute of Zhejiang University,Huzhou,China,313000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University,Huzhou,China,313000","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4989","last_page":"4995"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9980000257492065,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9980000257492065,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9907000064849854,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9818000197410583,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5624959468841553},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5323880910873413},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.4211325943470001},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.33176323771476746},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2933667302131653},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.27700406312942505},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20766973495483398}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5624959468841553},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5323880910873413},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.4211325943470001},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.33176323771476746},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2933667302131653},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.27700406312942505},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20766973495483398}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128779","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128779","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7104452795","display_name":null,"funder_award_id":"62103368","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1977164425","https://openalex.org/W1984088642","https://openalex.org/W1987428842","https://openalex.org/W2013439434","https://openalex.org/W2162991084","https://openalex.org/W2744464459","https://openalex.org/W2769498435","https://openalex.org/W2772761907","https://openalex.org/W2970157662","https://openalex.org/W2990376862","https://openalex.org/W3003464919","https://openalex.org/W3036408458","https://openalex.org/W3080090294","https://openalex.org/W3126895580","https://openalex.org/W3135798748","https://openalex.org/W3175996262","https://openalex.org/W3197225143","https://openalex.org/W4210269514","https://openalex.org/W4285742942","https://openalex.org/W4312416570","https://openalex.org/W4324290511","https://openalex.org/W4389666249","https://openalex.org/W4389667820","https://openalex.org/W4398788561"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Terrestrial":[0],"and":[1,14,68,137,160,177,186,195],"aerial":[2],"bimodal":[3,24,52,150],"vehicles":[4,25],"have":[5],"gained":[6],"significant":[7],"interest":[8],"due":[9],"to":[10,30,85,182],"their":[11],"energy":[12,38,106,193],"efficiency":[13,108,194],"versatile":[15],"maneuverability":[16],"across":[17],"different":[18],"domains.":[19],"However,":[20],"most":[21],"existing":[22],"passive-wheeled":[23,51],"rely":[26],"on":[27,40,99,117,165],"attitude":[28,135],"regulation":[29,136],"generate":[31],"forward":[32],"thrust,":[33,88],"which":[34,190],"inevitably":[35],"results":[36],"in":[37,109,125],"waste":[39],"producing":[41],"lifting":[42],"force.":[43],"In":[44],"this":[45],"work,":[46],"we":[47],"propose":[48],"a":[49,64,69,77,95,140,162],"novel":[50],"vehicle":[53],"called":[54],"TrofyBot":[55],"that":[56],"can":[57],"rapidly":[58],"change":[59],"the":[60,89,100,113,118,129,132,149,153,184,187],"thrust":[61],"direction":[62],"with":[63,76],"single":[65],"servo":[66],"motor":[67],"transformable":[70],"parallelogram":[71],"linkage":[72],"mechanism":[73],"(TPLM).":[74],"Cooperating":[75],"bidirectional":[78,87],"force":[79],"generation":[80],"module":[81],"(BFGM)":[82],"for":[83,120,134,152,170],"motors":[84],"produce":[86],"robot":[90,114],"achieves":[91,104,191],"flexible":[92],"mobility":[93],"as":[94],"differential":[96,157],"driven":[97],"rover":[98],"ground.":[101],"This":[102],"design":[103,130,161,185],"95.37%":[105],"saving":[107],"terrestrial":[110],"locomotion,":[111],"allowing":[112],"continuously":[115],"move":[116],"ground":[119],"more":[121],"than":[122],"two":[123],"hours":[124],"current":[126],"setup.":[127],"Furthermore,":[128],"obviates":[131],"need":[133],"therefore":[138],"provides":[139],"stable":[141],"sensor":[142],"field":[143],"of":[144],"view":[145],"(FoV).":[146],"We":[147],"model":[148,167],"dynamics":[151],"system,":[154],"analyze":[155],"its":[156],"flatness":[158],"property,":[159],"controller":[163],"based":[164],"hybrid":[166],"predictive":[168],"control":[169],"trajectory":[171],"tracking.":[172],"A":[173],"prototype":[174],"is":[175],"built":[176],"extensive":[178],"experiments":[179],"are":[180],"conducted":[181],"verify":[183],"proposed":[188],"controller,":[189],"high":[192],"seamless":[196],"transition":[197],"between":[198],"modes.":[199]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
