{"id":"https://openalex.org/W7125638850","doi":"https://doi.org/10.1109/lra.2026.3656783","title":"HoLoArm: Deformable Arms for Collision-Tolerant Quadrotor Flight","display_name":"HoLoArm: Deformable Arms for Collision-Tolerant Quadrotor Flight","publication_year":2026,"publication_date":"2026-01-22","ids":{"openalex":"https://openalex.org/W7125638850","doi":"https://doi.org/10.1109/lra.2026.3656783"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3656783","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3656783","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2026.3656783","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5117630314","display_name":"Quang Ngoc Pham","orcid":null},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Quang Ngoc Pham","raw_affiliation_strings":["Japan Advanced Institute of Science and Technology (JAIST), Ishikawa, Japan"],"raw_orcid":"https://orcid.org/0000-0001-6396-9570","affiliations":[{"raw_affiliation_string":"Japan Advanced Institute of Science and Technology (JAIST), Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038298738","display_name":"Jonas Eschmann","orcid":"https://orcid.org/0000-0002-3320-6502"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonas Eschmann","raw_affiliation_strings":["University of California Berkeley, Department of Electrical Engineering and Computer Sciences, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3320-6502","affiliations":[{"raw_affiliation_string":"University of California Berkeley, Department of Electrical Engineering and Computer Sciences, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062796058","display_name":"Yang Zhou","orcid":"https://orcid.org/0000-0002-2001-427X"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yang Zhou","raw_affiliation_strings":["New York University, Tandon School of Engineering, Brooklyn, NY, USA"],"raw_orcid":"https://orcid.org/0000-0002-2001-427X","affiliations":[{"raw_affiliation_string":"New York University, Tandon School of Engineering, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123808390","display_name":"Alejandro Ojeda Olarte","orcid":null},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alejandro Ojeda Olarte","raw_affiliation_strings":["New York University, Tandon School of Engineering, Brooklyn, NY, USA"],"raw_orcid":"https://orcid.org/0009-0001-5857-212X","affiliations":[{"raw_affiliation_string":"New York University, Tandon School of Engineering, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077485450","display_name":"Giuseppe Loianno","orcid":"https://orcid.org/0000-0002-3263-5401"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Giuseppe Loianno","raw_affiliation_strings":["University of California Berkeley, Department of Electrical Engineering and Computer Sciences, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3263-5401","affiliations":[{"raw_affiliation_string":"University of California Berkeley, Department of Electrical Engineering and Computer Sciences, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007406858","display_name":"Van Anh Ho","orcid":"https://orcid.org/0000-0002-4519-0448"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Van Anh Ho","raw_affiliation_strings":["Japan Advanced Institute of Science and Technology (JAIST), Ishikawa, Japan"],"raw_orcid":"https://orcid.org/0000-0002-4519-0448","affiliations":[{"raw_affiliation_string":"Japan Advanced Institute of Science and Technology (JAIST), Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.2205,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.93523247,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"11","issue":"3","first_page":"3582","last_page":"3589"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.20919999480247498,"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":0.20919999480247498,"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":0.1137000024318695,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.08100000023841858,"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/noise","display_name":"Noise (video)","score":0.2694000005722046},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.23680000007152557},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.23250000178813934},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.22339999675750732},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.21469999849796295}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41999998688697815},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2743000090122223},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.2694000005722046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2639999985694885},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2434999942779541},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.23680000007152557},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.23250000178813934},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.22339999675750732},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.21469999849796295},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.2142000049352646}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2026.3656783","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3656783","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2605.25790","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2605.25790","pdf_url":"https://arxiv.org/pdf/2605.25790","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.1109/lra.2026.3656783","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3656783","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2472884495","display_name":"CPS: Medium: Aerial Co-Workers: Augmenting Physical and Cognitive Human Capabilities","funder_award_id":"2121391","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3429040344","display_name":"Minimizing the Risk: Mechano-Aerodynamics and Control of Soft-Structured Drones, and Application to Collision-Resilient Flying Robots","funder_award_id":"24KK0082","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G6671297155","display_name":null,"funder_award_id":"CAREER","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7032998754","display_name":"CAREER: Re-Thinking the Perception-Action Paradigm for Agile Autonomous Robots","funder_award_id":"2546659","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8015092195","display_name":null,"funder_award_id":"D22AP00156-00","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"},{"id":"https://openalex.org/F4320338075","display_name":"Core Research for Evolutional Science and Technology","ror":"https://ror.org/00097mb19"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1977930315","https://openalex.org/W2122682219","https://openalex.org/W2180940137","https://openalex.org/W2768075315","https://openalex.org/W2774613902","https://openalex.org/W2806599356","https://openalex.org/W2829132697","https://openalex.org/W2949847689","https://openalex.org/W2968479790","https://openalex.org/W2991384325","https://openalex.org/W3023122958","https://openalex.org/W3186522732","https://openalex.org/W3205136620","https://openalex.org/W4293370792","https://openalex.org/W4366464018","https://openalex.org/W4385301175","https://openalex.org/W4396542455","https://openalex.org/W4400142398","https://openalex.org/W4401808584","https://openalex.org/W4403378616","https://openalex.org/W4404289253","https://openalex.org/W4405520774","https://openalex.org/W4405786811","https://openalex.org/W4412995543","https://openalex.org/W4413133972","https://openalex.org/W4417097931"],"related_works":[],"abstract_inverted_index":{"The":[0,104],"increasing":[1],"use":[2],"of":[3,41,62,101,132],"drones":[4,158],"in":[5,84,144],"human-centric":[6],"applications":[7],"highlights":[8],"the":[9,26,38,60,97,102,129,152],"need":[10],"for":[11,154],"designs":[12],"that":[13,69,79,159],"can":[14,81,106],"survive":[15,107],"collisions":[16,108],"and":[17,25,49,73,90,99,115,139,146,150],"recover":[18,91],"rapidly,":[19],"minimizing":[20],"risks":[21],"to":[22,112,128],"both":[23,71],"humans":[24],"environment.":[27],"We":[28],"present":[29],"HoLoArm,":[30],"a":[31,63,117],"quadrotor":[32],"with":[33,136,163],"compliant":[34,161],"arms":[35],"inspired":[36],"by":[37,59],"nodus":[39],"structure":[40],"dragonfly":[42],"wings.":[43],"This":[44,125],"design":[45,131],"provides":[46],"natural":[47],"flexibility":[48],"resilience":[50],"while":[51,121],"preserving":[52],"flight":[53],"stability,":[54],"which":[55],"is":[56],"further":[57],"reinforced":[58],"integration":[61],"Reinforcement":[64],"Learning":[65],"(RL)":[66],"control":[67],"policy":[68],"enhances":[70],"recovery":[72],"hovering":[74],"performance.":[75],"Experimental":[76],"results":[77],"demonstrate":[78],"HoLoArm":[80],"passively":[82],"deform":[83],"any":[85],"direction,":[86],"including":[87],"axial":[88],"one,":[89],"within":[92],"0.3-0.6":[93],"s":[94],"depending":[95],"on":[96],"direction":[98],"level":[100],"impact.":[103],"drone":[105],"at":[109],"speeds":[110],"up":[111],"7.6":[113],"m/s":[114],"carry":[116],"540":[118],"g":[119],"payload":[120],"maintaining":[122],"stable":[123],"flight.":[124],"work":[126],"contributes":[127],"morphological":[130],"soft":[133,157],"aerial":[134],"robots":[135],"high":[137],"agility":[138],"reliable":[140],"safety,":[141],"enabling":[142],"operation":[143],"cluttered":[145],"human":[147],"shared":[148],"environments,":[149],"lays":[151],"groundwork":[153],"future":[155],"fully":[156],"integrate":[160],"structures":[162],"intelligent":[164],"control.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-01-26T00:00:00"}
