{"id":"https://openalex.org/W4416749053","doi":"https://doi.org/10.1109/iros60139.2025.11247663","title":"Design and Control of an Actively Morphing Quadrotor with Vertically Foldable Arms","display_name":"Design and Control of an Actively Morphing Quadrotor with Vertically Foldable Arms","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749053","doi":"https://doi.org/10.1109/iros60139.2025.11247663"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247663","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"https://openalex.org/A5014812272","display_name":"Tingyu Yeh","orcid":null},"institutions":[{"id":"https://openalex.org/I4210125930","display_name":"Ionic Systems (United States)","ror":"https://ror.org/02bax5p58","country_code":"US","type":"company","lineage":["https://openalex.org/I4210125930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tingyu Yeh","raw_affiliation_strings":["Shanghai Jiao Tong University and State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis,School of Automation and Intelligent Sensing,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University and State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis,School of Automation and Intelligent Sensing,China,200240","institution_ids":["https://openalex.org/I4210125930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084835357","display_name":"Mengxin Xu","orcid":"https://orcid.org/0000-0003-1308-5958"},"institutions":[{"id":"https://openalex.org/I4210125930","display_name":"Ionic Systems (United States)","ror":"https://ror.org/02bax5p58","country_code":"US","type":"company","lineage":["https://openalex.org/I4210125930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mengxin Xu","raw_affiliation_strings":["Shanghai Jiao Tong University and State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis,School of Automation and Intelligent Sensing,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University and State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis,School of Automation and Intelligent Sensing,China,200240","institution_ids":["https://openalex.org/I4210125930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086631395","display_name":"Lijun Han","orcid":"https://orcid.org/0000-0002-6262-2388"},"institutions":[{"id":"https://openalex.org/I4210125930","display_name":"Ionic Systems (United States)","ror":"https://ror.org/02bax5p58","country_code":"US","type":"company","lineage":["https://openalex.org/I4210125930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lijun Han","raw_affiliation_strings":["Shanghai Jiao Tong University and State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis,School of Automation and Intelligent Sensing,China,200240"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University and State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis,School of Automation and Intelligent Sensing,China,200240","institution_ids":["https://openalex.org/I4210125930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210125930"],"apc_list":null,"apc_paid":null,"fwci":11.4653,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.98814307,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5420","last_page":"5425"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.4187000095844269,"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":0.4187000095844269,"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":0.2818000018596649,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.07930000126361847,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/parallelogram","display_name":"Parallelogram","score":0.843999981880188},{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.767799973487854},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5325000286102295},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5291000008583069},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5012000203132629},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4431999921798706},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.42160001397132874},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4088999927043915}],"concepts":[{"id":"https://openalex.org/C53118041","wikidata":"https://www.wikidata.org/wiki/Q45867","display_name":"Parallelogram","level":3,"score":0.843999981880188},{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.767799973487854},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5325000286102295},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5291000008583069},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5012000203132629},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49799999594688416},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4431999921798706},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44269999861717224},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4413999915122986},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.42160001397132874},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4088999927043915},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.38269999623298645},{"id":"https://openalex.org/C2776545253","wikidata":"https://www.wikidata.org/wiki/Q5464292","display_name":"Folding (DSP implementation)","level":2,"score":0.37700000405311584},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3488999903202057},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3336000144481659},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.320499986410141},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.3190000057220459},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.31869998574256897},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.3160000145435333},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2531000077724457}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247663","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2057607924","https://openalex.org/W2076697903","https://openalex.org/W2768075315","https://openalex.org/W2806599356","https://openalex.org/W2889829150","https://openalex.org/W2905560833","https://openalex.org/W2909295493","https://openalex.org/W2968479790","https://openalex.org/W2972770144","https://openalex.org/W3093767638","https://openalex.org/W3112830500","https://openalex.org/W3145785845","https://openalex.org/W3155657979","https://openalex.org/W3185303610","https://openalex.org/W3195573131","https://openalex.org/W4220892487","https://openalex.org/W4312397851","https://openalex.org/W4321609184","https://openalex.org/W4378966601","https://openalex.org/W4394627550","https://openalex.org/W4396542250","https://openalex.org/W4405441772"],"related_works":[],"abstract_inverted_index":{"In":[0,59],"this":[1],"work,":[2],"we":[3,93],"propose":[4],"a":[5,29,46,54,66,75,101],"novel":[6],"quadrotor":[7,64,108,125],"design":[8],"capable":[9],"of":[10,113,122],"folding":[11],"its":[12,60,114],"arms":[13,36],"vertically":[14],"to":[15,41,111],"grasp":[16],"objects":[17],"and":[18,33,69,90,120],"navigate":[19],"through":[20,128],"narrow":[21],"spaces.":[22],"The":[23,35,117],"transformation":[24],"is":[25],"controlled":[26],"actively":[27],"by":[28],"central":[30,43],"servomotor,":[31],"gears,":[32],"racks.":[34],"connect":[37],"the":[38,42,51,63,82,107,123],"motor":[39,83],"bases":[40],"frame,":[44],"forming":[45],"parallelogram":[47],"structure":[48],"that":[49],"ensures":[50],"propellers":[52],"maintain":[53],"constant":[55],"orientation":[56],"during":[57,88],"morphing.":[58],"stretched":[61],"state,":[62],"resembles":[65],"conventional":[67],"design,":[68],"when":[70],"contracted,":[71],"it":[72],"functions":[73],"as":[74],"gripper":[76],"with":[77,100],"grasping":[78,91],"components":[79],"emerging":[80],"from":[81],"bases.":[84],"To":[85],"mitigate":[86],"disturbances":[87],"transforming":[89],"payloads,":[92],"employ":[94],"an":[95],"adaptive":[96],"sliding":[97],"mode":[98],"controller":[99],"disturbance":[102],"observer.":[103],"After":[104],"fully":[105],"folded,":[106],"frame":[109],"shrinks":[110],"67%":[112],"original":[115],"size.":[116],"control":[118],"performance":[119],"versatility":[121],"morphing":[124],"are":[126],"validated":[127],"real-world":[129],"experiments.":[130]},"counts_by_year":[{"year":2026,"cited_by_count":4}],"updated_date":"2026-08-19T15:00:24.278416","created_date":"2025-11-28T00:00:00"}
