{"id":"https://openalex.org/W3213878240","doi":"https://doi.org/10.1109/robosoft54090.2022.9762161","title":"Modeling and Control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm","display_name":"Modeling and Control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm","publication_year":2022,"publication_date":"2022-04-04","ids":{"openalex":"https://openalex.org/W3213878240","doi":"https://doi.org/10.1109/robosoft54090.2022.9762161","mag":"3213878240"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft54090.2022.9762161","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762161","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/526584","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077591876","display_name":"R\u00f3bert Sz\u00e1sz","orcid":"https://orcid.org/0000-0003-1343-6017"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"R\u00f3bert Sz\u00e1sz","raw_affiliation_strings":["Swiss Federal Institute of Technology in Zurich (ETH Zurich),Soft Robotics Lab,Zürich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology in Zurich (ETH Zurich),Soft Robotics Lab,Zürich,Switzerland,8092","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034078271","display_name":"Mike Allenspach","orcid":"https://orcid.org/0000-0001-6903-6341"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Mike Allenspach","raw_affiliation_strings":["Swiss Federal Institute of Technology in Zurich (ETH Zurich),Autonomous Systems Lab,Zürich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology in Zurich (ETH Zurich),Autonomous Systems Lab,Zürich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057269196","display_name":"Minghao Han","orcid":"https://orcid.org/0000-0002-2027-328X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Minghao Han","raw_affiliation_strings":["Swiss Federal Institute of Technology in Zurich (ETH Zurich),Soft Robotics Lab,Zürich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology in Zurich (ETH Zurich),Soft Robotics Lab,Zürich,Switzerland,8092","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026415911","display_name":"Marco Tognon","orcid":"https://orcid.org/0000-0003-1700-9637"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Tognon","raw_affiliation_strings":["Swiss Federal Institute of Technology in Zurich (ETH Zurich),Autonomous Systems Lab,Zürich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology in Zurich (ETH Zurich),Autonomous Systems Lab,Zürich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050915314","display_name":"Robert K. Katzschmann","orcid":"https://orcid.org/0000-0001-7143-7259"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Robert K. Katzschmann","raw_affiliation_strings":["Swiss Federal Institute of Technology in Zurich (ETH Zurich),Soft Robotics Lab,Zürich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology in Zurich (ETH Zurich),Soft Robotics Lab,Zürich,Switzerland,8092","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2259,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.75457223,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"01","last_page":"08"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9975000023841858,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9916999936103821,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5874596834182739},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5862598419189453},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5055432319641113},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4611075520515442},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4510461986064911},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45074114203453064},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.43934279680252075},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4388415515422821},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.4276546239852905},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4057299494743347},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3476586639881134},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09234786033630371}],"concepts":[{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5874596834182739},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5862598419189453},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5055432319641113},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4611075520515442},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4510461986064911},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45074114203453064},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.43934279680252075},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4388415515422821},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.4276546239852905},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4057299494743347},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3476586639881134},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09234786033630371},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robosoft54090.2022.9762161","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft54090.2022.9762161","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/526584","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/526584","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"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":"arXiv","raw_type":"info:eu-repo/semantics/workingPaper"},{"id":"doi:10.3929/ethz-b-000526584","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000526584","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/526584","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/526584","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"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":"arXiv","raw_type":"info:eu-repo/semantics/workingPaper"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1608087688","https://openalex.org/W1976030291","https://openalex.org/W1979553560","https://openalex.org/W1981475906","https://openalex.org/W2089908769","https://openalex.org/W2126837612","https://openalex.org/W2236954786","https://openalex.org/W2418601359","https://openalex.org/W2515294141","https://openalex.org/W2564046594","https://openalex.org/W2750248357","https://openalex.org/W2870735678","https://openalex.org/W2904009101","https://openalex.org/W2947094677","https://openalex.org/W2947205800","https://openalex.org/W2953943807","https://openalex.org/W3000160985","https://openalex.org/W3012669573","https://openalex.org/W3048039920","https://openalex.org/W3088901121","https://openalex.org/W3100287203","https://openalex.org/W3103999613","https://openalex.org/W3104923973","https://openalex.org/W3112830500","https://openalex.org/W3138075616","https://openalex.org/W3174123873","https://openalex.org/W3184348524","https://openalex.org/W3189042648","https://openalex.org/W3202317978","https://openalex.org/W6786068223","https://openalex.org/W6797047829","https://openalex.org/W6891780875"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W2059768187","https://openalex.org/W4247925126","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4327774218","https://openalex.org/W3206445629","https://openalex.org/W2911666782","https://openalex.org/W4312473168","https://openalex.org/W4211124276"],"abstract_inverted_index":{"Flying":[0],"manipulators":[1],"are":[2,100,188],"aerial":[3,51,203],"drones":[4],"with":[5,83,102],"attached":[6,46],"rigid-bodied":[7],"robotic":[8,44],"arms":[9,28],"and":[10,15,33,58,67,91,124,136,151,167,181,190,210],"belong":[11],"to":[12,40,47,54,70],"the":[13,56,62,71,75,81,84,89,111,119,142,149,176,186],"latest":[14],"most":[16],"actively":[17],"developed":[18],"research":[19],"areas":[20],"in":[21,35,88,169,202],"robotics.":[22],"The":[23,78,163,192],"rigid":[24],"nature":[25],"of":[26,61,80,93,153,185],"these":[27,98],"often":[29],"lack":[30],"compliance,":[31],"flexibility,":[32],"smoothness":[34],"movement.":[36],"This":[37],"work":[38],"proposes":[39],"use":[41],"a":[42,95,107,137,156],"soft-bodied":[43],"arm":[45,82],"an":[48],"omnidirectional":[49,72],"micro":[50],"vehicle":[52],"(OMAV)":[53],"leverage":[55],"compliant":[57],"flexible":[59],"behavior":[60],"arm,":[63],"while":[64],"remaining":[65],"maneuverable":[66],"dynamic":[68],"thanks":[69],"drone":[73,85],"as":[74],"floating":[76],"base.":[77],"unification":[79],"poses":[86],"challenges":[87,99],"modeling":[90,117,132],"control":[92],"such":[94],"combined":[96],"platform;":[97],"addressed":[101],"this":[103,154],"work.":[104],"We":[105],"propose":[106],"unified":[108],"model":[109],"for":[110,131],"flying":[112,194],"manipulator":[113,195],"based":[114],"on":[115,171],"three":[116],"principles:":[118],"Piecewise":[120],"Constant":[121],"Curvature":[122],"(PCC)":[123],"Augmented":[125],"Rigid":[126],"Body":[127],"Model":[128],"(ARBM)":[129],"hypotheses":[130],"soft":[133,193],"continuum":[134],"robots":[135],"floating-base":[138],"approach":[139],"borrowed":[140],"from":[141],"traditional":[143],"rigid-body":[144],"robotics":[145],"literature.":[146],"To":[147],"demonstrate":[148],"validity":[150],"usefulness":[152],"parametrisation,":[155],"hierarchical":[157],"model-based":[158],"feedback":[159],"controller":[160,164],"is":[161,165],"implemented.":[162],"verified":[166],"evaluated":[168],"simulation":[170],"various":[172],"dynamical":[173],"tasks,":[174],"where":[175],"nullspace":[177],"motions,":[178],"disturbance":[179],"recovery,":[180],"trajectory":[182],"tracking":[183],"capabilities":[184],"platform":[187,196],"examined":[189],"validated.":[191],"could":[197],"open":[198],"new":[199],"application":[200],"fields":[201],"construction,":[204],"goods":[205],"delivery,":[206],"human":[207],"assistance,":[208],"maintenance,":[209],"warehouse":[211],"automation.":[212]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}