{"id":"https://openalex.org/W2783007554","doi":"https://doi.org/10.1109/lra.2018.2793344","title":"Design, Modeling, and Control of an Aerial Robot DRAGON: A Dual-Rotor-Embedded Multilink Robot With the Ability of Multi-Degree-of-Freedom Aerial Transformation","display_name":"Design, Modeling, and Control of an Aerial Robot DRAGON: A Dual-Rotor-Embedded Multilink Robot With the Ability of Multi-Degree-of-Freedom Aerial Transformation","publication_year":2018,"publication_date":"2018-01-15","ids":{"openalex":"https://openalex.org/W2783007554","doi":"https://doi.org/10.1109/lra.2018.2793344","mag":"2783007554"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2793344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2793344","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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":true,"raw_author_name":"Moju Zhao","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0001-8361-5825","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/A5037415396","display_name":"Tomoki Anzai","orcid":"https://orcid.org/0000-0002-4309-0750"},"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":"Tomoki Anzai","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-4309-0750","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/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":false,"raw_author_name":"Fan Shi","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-9202-1727","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":"https://orcid.org/0000-0001-5858-5679","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":["https://openalex.org/A5045076994"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":8.3764,"has_fulltext":false,"cited_by_count":197,"citation_normalized_percentile":{"value":0.98210303,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"3","issue":"2","first_page":"1176","last_page":"1183"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9990000128746033,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9979000091552734,"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/gimbal","display_name":"Gimbal","score":0.8685820698738098},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6290836930274963},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.5559793710708618},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5367582440376282},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5156530141830444},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5097238421440125},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.44902217388153076},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.44255369901657104},{"id":"https://openalex.org/keywords/thrust-vectoring","display_name":"Thrust vectoring","score":0.41903746128082275},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4117794632911682},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3938373327255249},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39080479741096497},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23592039942741394},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17259401082992554},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.15711849927902222},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1025242805480957}],"concepts":[{"id":"https://openalex.org/C125750033","wikidata":"https://www.wikidata.org/wiki/Q1146104","display_name":"Gimbal","level":2,"score":0.8685820698738098},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6290836930274963},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.5559793710708618},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5367582440376282},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5156530141830444},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5097238421440125},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.44902217388153076},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.44255369901657104},{"id":"https://openalex.org/C2775879734","wikidata":"https://www.wikidata.org/wiki/Q743135","display_name":"Thrust vectoring","level":3,"score":0.41903746128082275},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4117794632911682},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3938373327255249},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39080479741096497},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23592039942741394},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17259401082992554},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.15711849927902222},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1025242805480957},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2793344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2793344","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1561053133","https://openalex.org/W1569288792","https://openalex.org/W1969742965","https://openalex.org/W2007554064","https://openalex.org/W2127752689","https://openalex.org/W2142424817","https://openalex.org/W2148182166","https://openalex.org/W2148778218","https://openalex.org/W2163045496","https://openalex.org/W2204124519","https://openalex.org/W2213843606","https://openalex.org/W2313767655","https://openalex.org/W2368657857","https://openalex.org/W2418601359","https://openalex.org/W2560414423","https://openalex.org/W2566317155","https://openalex.org/W2571268510","https://openalex.org/W2586011972","https://openalex.org/W2593091274","https://openalex.org/W2601316242","https://openalex.org/W2614122538","https://openalex.org/W2738298787","https://openalex.org/W2739036405","https://openalex.org/W2775746078","https://openalex.org/W6683919976"],"related_works":["https://openalex.org/W821216932","https://openalex.org/W4284897053","https://openalex.org/W4232200051","https://openalex.org/W2331041710","https://openalex.org/W2794025171","https://openalex.org/W2915906795","https://openalex.org/W2328062873","https://openalex.org/W905130546","https://openalex.org/W2015083056","https://openalex.org/W77030868"],"abstract_inverted_index":{"In":[0,98],"this":[1],"letter,":[2],"we":[3],"introduce":[4],"a":[5,14,86],"novel":[6,152],"transformable":[7],"aerial":[8,24,28,50,132,162],"robot":[9,17,29],"called":[10,65],"DRAGON,":[11],"which":[12,52],"is":[13,53,72,107,119,140,164],"dual-rotor-embedded":[15],"multilink":[16],"with":[18],"the":[19,32,38,48,56,66,75,78,99,103,114,151,156,161],"ability":[20],"of":[21,40,43,77,81,137,150],"multi-degree-of-freedom":[22],"(DoF)":[23],"transformation.":[25,133],"The":[26,70,134,148],"new":[27],"can":[30,46],"control":[31,87,93,117,158],"full":[33],"pose":[34],"in":[35],"SE(3)":[36],"regarding":[37],"center":[39],"gravity":[41],"(CoG)":[42],"multilinks":[44],"and":[45,94,113,125,130,142,155],"render":[47],"multi-DoF":[49],"transformation,":[51],"accomplished":[54],"by":[55,85],"original":[57],"two-DoF":[58],"force":[59,92,101,105,111],"vectoring":[60],"mechanism":[61],"on":[62,74],"each":[63],"link":[64],"dual-rotor":[67],"gimbal":[68,96,116],"module.":[69],"dynamics":[71],"derived":[73],"basis":[76],"special":[79],"definition":[80],"CoG":[82],"orientation,":[83],"followed":[84],"method":[88,118,159],"decoupled":[89],"into":[90],"thrust":[91,100],"rotor":[95,115],"control.":[97],"control,":[102],"minimum":[104],"norm":[106],"considered":[108],"to":[109,121],"avoid":[110],"saturation,":[112],"developed":[120],"enhance":[122],"both":[123],"translational":[124],"rotational":[126],"stabilities":[127],"during":[128],"hovering":[129],"large-scale":[131],"prototype":[135],"composed":[136],"four":[138],"links":[139],"constructed,":[141],"associated":[143],"preliminary":[144],"experiments":[145],"are":[146],"performed.":[147],"feasibility":[149],"mechanical":[153],"design":[154],"proposed":[157],"for":[160],"transformation":[163],"demonstrated.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":24},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":34},{"year":2022,"cited_by_count":28},{"year":2021,"cited_by_count":33},{"year":2020,"cited_by_count":26},{"year":2019,"cited_by_count":17},{"year":2018,"cited_by_count":3}],"updated_date":"2026-05-15T08:27:34.491423","created_date":"2025-10-10T00:00:00"}