{"id":"https://openalex.org/W4200464794","doi":"https://doi.org/10.1109/iros51168.2021.9635995","title":"The New Dexterity Omnirotor Platform: Design, Modeling, and Control of a Modular, Versatile, All-Terrain Vehicle","display_name":"The New Dexterity Omnirotor Platform: Design, Modeling, and Control of a Modular, Versatile, All-Terrain Vehicle","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200464794","doi":"https://doi.org/10.1109/iros51168.2021.9635995"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9635995","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635995","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5040823368","display_name":"Joao Buzzatto","orcid":"https://orcid.org/0000-0003-3725-4023"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Joao Buzzatto","raw_affiliation_strings":["The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112723552","display_name":"Pedro H. Mendes","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Pedro H. Mendes","raw_affiliation_strings":["The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024084274","display_name":"Navin Perera","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Navin Perera","raw_affiliation_strings":["The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030409352","display_name":"Karl Stol","orcid":"https://orcid.org/0000-0002-1661-167X"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Karl Stol","raw_affiliation_strings":["The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043544803","display_name":"Minas Liarokapis","orcid":"https://orcid.org/0000-0002-6016-1477"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Minas Liarokapis","raw_affiliation_strings":["The University of Auckland, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3938,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.73309456,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6336","last_page":"6343"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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":0.9990000128746033,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11701","display_name":"Space Satellite Systems and Control","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/modular-design","display_name":"Modular design","score":0.744789183139801},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5636301040649414},{"id":"https://openalex.org/keywords/takeoff","display_name":"Takeoff","score":0.5622178316116333},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.5587304830551147},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5479188561439514},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5022621154785156},{"id":"https://openalex.org/keywords/takeoff-and-landing","display_name":"Takeoff and landing","score":0.4971013367176056},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4811869263648987},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.45181068778038025},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.4395791292190552},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.43769699335098267},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4215674102306366},{"id":"https://openalex.org/keywords/coaxial","display_name":"Coaxial","score":0.4168555438518524},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.403312087059021},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.395724892616272},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3182935118675232},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1910819709300995},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15847185254096985}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.744789183139801},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5636301040649414},{"id":"https://openalex.org/C2777717826","wikidata":"https://www.wikidata.org/wiki/Q854248","display_name":"Takeoff","level":2,"score":0.5622178316116333},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.5587304830551147},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5479188561439514},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5022621154785156},{"id":"https://openalex.org/C2780631144","wikidata":"https://www.wikidata.org/wiki/Q20046585","display_name":"Takeoff and landing","level":2,"score":0.4971013367176056},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4811869263648987},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.45181068778038025},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.4395791292190552},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.43769699335098267},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4215674102306366},{"id":"https://openalex.org/C51221625","wikidata":"https://www.wikidata.org/wiki/Q1751466","display_name":"Coaxial","level":2,"score":0.4168555438518524},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.403312087059021},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.395724892616272},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3182935118675232},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1910819709300995},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15847185254096985},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9635995","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635995","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1557353344","https://openalex.org/W1578294898","https://openalex.org/W1973800230","https://openalex.org/W2019896740","https://openalex.org/W2037011962","https://openalex.org/W2092615847","https://openalex.org/W2096282629","https://openalex.org/W2113463400","https://openalex.org/W2121385616","https://openalex.org/W2130545255","https://openalex.org/W2138396958","https://openalex.org/W2565939207","https://openalex.org/W2593091274","https://openalex.org/W2738324008","https://openalex.org/W2783840519","https://openalex.org/W2809971797","https://openalex.org/W2997838575","https://openalex.org/W3003798039","https://openalex.org/W3101738542","https://openalex.org/W3124005861","https://openalex.org/W6655188812"],"related_works":["https://openalex.org/W2787736607","https://openalex.org/W2471779853","https://openalex.org/W2499415631","https://openalex.org/W4252800133","https://openalex.org/W209553505","https://openalex.org/W3180714136","https://openalex.org/W2566730525","https://openalex.org/W2376844918","https://openalex.org/W4386494059","https://openalex.org/W4320184063"],"abstract_inverted_index":{"Micro":[0],"Aerial":[1],"Vehicles":[2],"(MAV)":[3],"with":[4,37,175],"Vertical":[5],"Takeoff":[6],"and":[7,22,43,82,87,188],"Landing":[8],"(VTOL)":[9],"capabilities,":[10],"such":[11,77],"as":[12,32,182],"quadrotors,":[13],"have":[14,62,134],"offered":[15],"significant":[16],"value":[17],"to":[18,29,64,69,90,149,152],"many":[19,60],"research":[20],"fields":[21],"markets.":[23],"However,":[24],"only":[25],"recently,":[26],"MAV":[27,174],"began":[28],"be":[30,180],"explored":[31],"systems":[33],"capable":[34],"of":[35,52,122,159],"interacting":[36],"the":[38,50,84,123,157,163,166],"environment,":[39],"performing":[40],"manipulation":[41],"tasks,":[42],"participating":[44],"in":[45,118],"more":[46,57],"versatility-demanding":[47],"operations.":[48],"Pursuing":[49],"goal":[51],"turning":[53],"flying":[54],"machines":[55],"into":[56,170],"versatile":[58],"instruments,":[59],"researchers":[61],"resorted":[63],"using":[65],"tilting":[66],"rotor":[67],"mechanisms":[68],"create":[70],"new":[71,78],"aerial":[72],"vehicle":[73],"concepts.":[74],"Nevertheless,":[75],"most":[76],"concepts":[79],"are":[80,88],"bulky":[81],"lack":[83],"required":[85],"versatility,":[86],"restricted":[89],"particular":[91],"applications.":[92],"In":[93],"this":[94],"work,":[95],"we":[96],"address":[97],"these":[98],"issues":[99],"by":[100],"proposing":[101],"a":[102,153,171,183,186],"novel":[103],"coaxial,":[104],"versatile,":[105],"modular":[106],"tilt-rotor":[107],"UAV":[108],"concept.":[109],"The":[110,130],"Omnirotor":[111,167],"platform":[112,131],"can":[113,141,179],"apply":[114],"its":[115,143],"full":[116],"thrust":[117,144],"any":[119,135],"direction,":[120],"regardless":[121],"frame\u2019s":[124],"orientation":[125],"where":[126],"it":[127],"is":[128,168],"mounted.":[129],"does":[132],"not":[133],"limitations":[136],"regarding":[137],"rotation\u2019s":[138],"range.":[139],"It":[140],"change":[142],"direction":[145],"continuously":[146],"without":[147],"needing":[148],"unwind":[150],"back":[151],"specific":[154],"configuration.":[155],"With":[156],"addition":[158],"control":[160],"surfaces":[161],"between":[162],"coaxial":[164],"rotors,":[165],"turned":[169],"functional":[172],"VTOL":[173],"hovering":[176],"capabilities":[177],"that":[178],"used":[181],"ground":[184],"vehicle,":[185],"UAV,":[187],"an":[189],"all-terrain":[190],"vehicle.":[191]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}