{"id":"https://openalex.org/W4412076104","doi":"https://doi.org/10.1109/lra.2025.3585395","title":"A Compact Reconfigurable Terrestrial-Aerial Robot With Foldable Mechanisms for Rolling, Crawling, and Flying","display_name":"A Compact Reconfigurable Terrestrial-Aerial Robot With Foldable Mechanisms for Rolling, Crawling, and Flying","publication_year":2025,"publication_date":"2025-07-07","ids":{"openalex":"https://openalex.org/W4412076104","doi":"https://doi.org/10.1109/lra.2025.3585395"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3585395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3585395","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/A5033077281","display_name":"Qing Chang","orcid":"https://orcid.org/0000-0002-6293-1922"},"institutions":[{"id":"https://openalex.org/I110109458","display_name":"Tianjin University of Commerce","ror":"https://ror.org/02b6amy98","country_code":"CN","type":"education","lineage":["https://openalex.org/I110109458"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qing Chang","raw_affiliation_strings":["School of Mechanical Engineering, Tianjin University of Commerce, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-6293-1922","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin University of Commerce, Tianjin, China","institution_ids":["https://openalex.org/I110109458"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090130562","display_name":"Xiangyun Zhao","orcid":"https://orcid.org/0000-0003-2367-8896"},"institutions":[{"id":"https://openalex.org/I110109458","display_name":"Tianjin University of Commerce","ror":"https://ror.org/02b6amy98","country_code":"CN","type":"education","lineage":["https://openalex.org/I110109458"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyun Zhao","raw_affiliation_strings":["School of Mechanical Engineering, Tianjin University of Commerce, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin University of Commerce, Tianjin, China","institution_ids":["https://openalex.org/I110109458"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101291162","display_name":"Hongsheng Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I110109458","display_name":"Tianjin University of Commerce","ror":"https://ror.org/02b6amy98","country_code":"CN","type":"education","lineage":["https://openalex.org/I110109458"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongsheng Ren","raw_affiliation_strings":["School of Information Engineering, Tianjin University of Commerce, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Tianjin University of Commerce, Tianjin, China","institution_ids":["https://openalex.org/I110109458"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107893695","display_name":"Haifeng Li","orcid":null},"institutions":[{"id":"https://openalex.org/I110109458","display_name":"Tianjin University of Commerce","ror":"https://ror.org/02b6amy98","country_code":"CN","type":"education","lineage":["https://openalex.org/I110109458"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haifeng Li","raw_affiliation_strings":["School of Information Engineering, Tianjin University of Commerce, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Tianjin University of Commerce, Tianjin, China","institution_ids":["https://openalex.org/I110109458"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101995838","display_name":"Xuehao Wang","orcid":"https://orcid.org/0000-0002-3427-2536"},"institutions":[{"id":"https://openalex.org/I110109458","display_name":"Tianjin University of Commerce","ror":"https://ror.org/02b6amy98","country_code":"CN","type":"education","lineage":["https://openalex.org/I110109458"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuehao Wang","raw_affiliation_strings":["School of Mechanical Engineering, Tianjin University of Commerce, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin University of Commerce, Tianjin, China","institution_ids":["https://openalex.org/I110109458"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5033077281"],"corresponding_institution_ids":["https://openalex.org/I110109458"],"apc_list":null,"apc_paid":null,"fwci":1.1332,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.79651075,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"10","issue":"8","first_page":"8459","last_page":"8466"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"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":0.9991000294685364,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991000294685364,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9927999973297119,"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/crawling","display_name":"Crawling","score":0.952637791633606},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6568220853805542},{"id":"https://openalex.org/keywords/terrestrial-locomotion","display_name":"Terrestrial locomotion","score":0.44582900404930115},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44577622413635254},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.38838717341423035},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3530033826828003},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3512284755706787},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3044276833534241},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2416316568851471},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.1619599461555481},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.11783435940742493},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.057256221771240234}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.952637791633606},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6568220853805542},{"id":"https://openalex.org/C532751654","wikidata":"https://www.wikidata.org/wiki/Q2535935","display_name":"Terrestrial locomotion","level":2,"score":0.44582900404930115},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44577622413635254},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.38838717341423035},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3530033826828003},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3512284755706787},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3044276833534241},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2416316568851471},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.1619599461555481},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.11783435940742493},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.057256221771240234}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3585395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3585395","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":[],"awards":[{"id":"https://openalex.org/G3494559384","display_name":null,"funder_award_id":"52405287","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3923134042","display_name":null,"funder_award_id":"24JCZDJC00350","funder_id":"https://openalex.org/F4320323993","funder_display_name":"Natural Science Foundation of Tianjin City"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323993","display_name":"Natural Science Foundation of Tianjin City","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2015662060","https://openalex.org/W2017792809","https://openalex.org/W2752346632","https://openalex.org/W3080090294","https://openalex.org/W3157458791","https://openalex.org/W3175996262","https://openalex.org/W3203378087","https://openalex.org/W3215940997","https://openalex.org/W4324290511","https://openalex.org/W4367663215","https://openalex.org/W4382344551","https://openalex.org/W4383097664","https://openalex.org/W4384917042","https://openalex.org/W4388703882","https://openalex.org/W4389104665","https://openalex.org/W4390577832","https://openalex.org/W4390782730","https://openalex.org/W4399493135","https://openalex.org/W4403387754","https://openalex.org/W4404576781","https://openalex.org/W4405429273"],"related_works":["https://openalex.org/W4393220254","https://openalex.org/W4390135167","https://openalex.org/W2968643431","https://openalex.org/W2031938550","https://openalex.org/W2286220519","https://openalex.org/W2523419683","https://openalex.org/W4281938117","https://openalex.org/W2744524402","https://openalex.org/W4293149831","https://openalex.org/W2332670029"],"abstract_inverted_index":{"A":[0,46],"compact":[1],"reconfigurable":[2],"terrestrial-aerial":[3],"robot":[4],"that":[5],"is":[6,21],"capable":[7],"of":[8,87,104,133],"executing":[9],"seamless":[10],"transitions":[11],"between":[12,53],"three":[13,120],"motion":[14],"modes\u2014rolling,":[15],"crawling,":[16],"and":[17,28,56,94,115,138,153,159,163],"flying\u2014via":[18],"foldable":[19,37,48,62,135],"mechanisms":[20],"presented":[22],"in":[23,151],"this":[24],"letter.":[25],"The":[26,91,123],"rolling":[27,55],"crawling":[29],"modes":[30],"are":[31,97],"facilitated":[32],"by":[33],"two":[34],"passive":[35],"gear-driven,":[36],"wheel-legged":[38],"mechanisms,":[39],"along":[40],"with":[41],"an":[42],"adjustable":[43],"telescopic":[44],"tail.":[45],"linkage-based":[47],"mechanism":[49,64,137],"enables":[50,65],"bidirectional":[51],"transformation":[52],"the":[54,61,66,71,88,102,110,131,134,139,146],"quadrotor":[57],"flying":[58,89],"modes.":[59,122],"Notably,":[60],"linkage":[63,92],"propellers":[67],"to":[68,85,100],"retract":[69],"into":[70],"body":[72],"during":[73],"ground":[74],"locomotion,":[75],"protecting":[76],"them":[77],"from":[78],"damage":[79],"while":[80],"achieving":[81],"a":[82],"volume":[83],"reduction":[84],"23.3%":[86],"mode.":[90],"parameters":[93],"tail":[95],"length":[96],"further":[98],"optimized":[99],"enhance":[101],"reliability":[103],"mode":[105,128],"transitions.":[106],"Prototype":[107],"experiments":[108],"validate":[109],"robot's":[111],"maneuverability,":[112],"obstacle-crossing":[113],"capability,":[114],"energy":[116],"efficiency":[117],"across":[118],"all":[119],"locomotion":[121],"results":[124],"also":[125],"confirm":[126],"reliable":[127],"transitions,":[129],"demonstrating":[130],"effectiveness":[132],"compression":[136],"propeller":[140],"protection":[141],"system.":[142],"These":[143],"features":[144],"make":[145],"design":[147],"well-suited":[148],"for":[149],"deployment":[150],"dynamic":[152],"unstructured":[154],"environments,":[155],"such":[156],"as":[157],"search":[158],"rescue":[160],"missions,":[161],"surveillance,":[162],"environmental":[164],"monitoring.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}