{"id":"https://openalex.org/W4293245976","doi":"https://doi.org/10.1109/lra.2022.3196768","title":"SOPHIE: Soft and Flexible Aerial Vehicle for Physical Interaction With the Environment","display_name":"SOPHIE: Soft and Flexible Aerial Vehicle for Physical Interaction With the Environment","publication_year":2022,"publication_date":"2022-08-05","ids":{"openalex":"https://openalex.org/W4293245976","doi":"https://doi.org/10.1109/lra.2022.3196768"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3196768","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3196768","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5051347957","display_name":"Fernando Ru\u00edz","orcid":"https://orcid.org/0000-0003-0314-5478"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"F. Ruiz","raw_affiliation_strings":["GRVC Robotics Lab of Seville, Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0003-0314-5478","affiliations":[{"raw_affiliation_string":"GRVC Robotics Lab of Seville, Seville, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043635224","display_name":"Bego\u00f1a C. Arrue","orcid":"https://orcid.org/0000-0003-1777-2675"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"B. C. Arrue","raw_affiliation_strings":["GRVC Robotics Lab of Seville, Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0003-1777-2675","affiliations":[{"raw_affiliation_string":"GRVC Robotics Lab of Seville, Seville, Spain","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057947815","display_name":"An\u0131\u0301bal Ollero","orcid":"https://orcid.org/0000-0003-2155-2472"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"A. Ollero","raw_affiliation_strings":["GRVC Robotics Lab of Seville, Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0003-2155-2472","affiliations":[{"raw_affiliation_string":"GRVC Robotics Lab of Seville, Seville, Spain","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1461,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.87338294,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"7","issue":"4","first_page":"11086","last_page":"11093"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9980000257492065,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/flexibility","display_name":"Flexibility (engineering)","score":0.5722032189369202},{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.546295702457428},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5299481153488159},{"id":"https://openalex.org/keywords/autopilot","display_name":"Autopilot","score":0.5065230131149292},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.5042835474014282},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4869433641433716},{"id":"https://openalex.org/keywords/physical-system","display_name":"Physical system","score":0.47020962834358215},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.4383784830570221},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4001096487045288},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.28250616788864136},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26800984144210815},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2501104474067688},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23533934354782104},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21825826168060303},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.12555432319641113}],"concepts":[{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5722032189369202},{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.546295702457428},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5299481153488159},{"id":"https://openalex.org/C18020424","wikidata":"https://www.wikidata.org/wiki/Q220858","display_name":"Autopilot","level":2,"score":0.5065230131149292},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.5042835474014282},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4869433641433716},{"id":"https://openalex.org/C116672817","wikidata":"https://www.wikidata.org/wiki/Q1454986","display_name":"Physical system","level":2,"score":0.47020962834358215},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.4383784830570221},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4001096487045288},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.28250616788864136},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26800984144210815},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2501104474067688},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23533934354782104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21825826168060303},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.12555432319641113},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3196768","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3196768","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1969107377","https://openalex.org/W2007554064","https://openalex.org/W2116116881","https://openalex.org/W2156218502","https://openalex.org/W2298275666","https://openalex.org/W2403225007","https://openalex.org/W2522333527","https://openalex.org/W2531029721","https://openalex.org/W2753728908","https://openalex.org/W2789261385","https://openalex.org/W2792083172","https://openalex.org/W2806599356","https://openalex.org/W2883132479","https://openalex.org/W2891005336","https://openalex.org/W2923845190","https://openalex.org/W2947517627","https://openalex.org/W2972770144","https://openalex.org/W2990144748","https://openalex.org/W3003797693","https://openalex.org/W3035966219","https://openalex.org/W3035976965","https://openalex.org/W3036748506","https://openalex.org/W3037168587","https://openalex.org/W3096523944","https://openalex.org/W3131570034","https://openalex.org/W3133349997","https://openalex.org/W3171240186","https://openalex.org/W3171492399","https://openalex.org/W3174123873","https://openalex.org/W3217370814","https://openalex.org/W4210863407","https://openalex.org/W4288047700"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W2528333064","https://openalex.org/W2357122534","https://openalex.org/W2148668825","https://openalex.org/W4327774218","https://openalex.org/W2159456118","https://openalex.org/W2059768187","https://openalex.org/W4312858960","https://openalex.org/W4386036939"],"abstract_inverted_index":{"This":[0,78],"letter":[1],"presents":[2],"the":[3,38,43,49,55,60,68,83,86,90,93,111,148,151,168],"first":[4],"design":[5],"of":[6,42,85,92,150],"a":[7,24,117],"soft":[8,152],"and":[9,75,88,135,160,164],"lightweight":[10],"UAV,":[11,69],"entirely":[12],"3D-printed":[13],"in":[14,62,66],"flexible":[15,19],"filament.":[16],"The":[17,40],"drone's":[18],"arms":[20],"are":[21],"equipped":[22],"with":[23,37],"tendon-actuated":[25],"bending":[26],"system,":[27],"which":[28,130],"is":[29,113,137],"used":[30],"for":[31,95,170],"applications":[32],"that":[33],"require":[34],"physical":[35],"interaction":[36],"environment.":[39],"flexibility":[41,63],"UAV":[44,153],"can":[45,107],"be":[46,108],"controlled":[47],"during":[48],"additive":[50],"manufacturing":[51],"process":[52],"by":[53],"adjusting":[54],"infill":[56],"rate$\\rho":[57],"_{TPU}$distribution.":[58],"However,":[59],"increase":[61],"implies":[64],"difficulties":[65],"controlling":[67],"as":[70,72,97,99],"well":[71],"structural,":[73],"aerodynamic,":[74],"aeroelastic":[76],"effects.":[77],"article":[79],"provides":[80],"insight":[81],"into":[82],"dynamics":[84,128],"system":[87],"validates":[89],"flyability":[91],"vehicle":[94],"densities":[96],"low":[98],"6$\\%$.":[100],"Within":[101],"this":[102,145],"range,":[103],"quasi-static":[104],"arm":[105,119],"deformations":[106],"considered,":[109],"thus":[110],"autopilot":[112],"fed":[114],"back":[115],"through":[116],"static":[118],"deflection":[120],"model.":[121],"At":[122],"lower":[123],"densities,":[124],"strong":[125],"non-linear":[126],"elastic":[127],"appear,":[129],"translates":[131],"to":[132,139,141,154],"complex":[133],"modeling,":[134],"it":[136],"suggested":[138],"switch":[140],"data-based":[142],"approaches.":[143],"Moreover,":[144],"work":[146],"demonstrates":[147],"ability":[149],"perform":[155],"full-body":[156],"perching,":[157],"specifically":[158],"landing":[159],"stabilizing":[161],"on":[162],"pipelines":[163],"irregular":[165],"surfaces":[166],"without":[167],"need":[169],"an":[171],"auxiliary":[172],"system.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}