{"id":"https://openalex.org/W7170083533","doi":"https://doi.org/10.48550/arxiv.2607.18527","title":"DASH Robot: Minimalistic Design and Optimal Aerial-Terrestrial Locomotion via Contact-Implicit Control","display_name":"DASH Robot: Minimalistic Design and Optimal Aerial-Terrestrial Locomotion via Contact-Implicit Control","publication_year":2026,"publication_date":"2026-07-20","ids":{"openalex":"https://openalex.org/W7170083533","doi":"https://doi.org/10.48550/arxiv.2607.18527"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.18527","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.18527","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2607.18527","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071421463","display_name":"Ryan Gomes Paiva","orcid":"https://orcid.org/0000-0002-9174-1669"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Paiva, Ryan Gomes","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5143461473","display_name":"Conrad Ho","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ho, Conrad","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5143451660","display_name":"Jiarong Kang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kang, Jiarong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5143438515","display_name":"Kunzhao Ren","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ren, Kunzhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103458235","display_name":"X X Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Xiangru","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5088490455","display_name":"Xiaobin Xiong","orcid":"https://orcid.org/0000-0002-6275-3900"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiong, Xiaobin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.4327999949455261,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.4327999949455261,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.147599995136261,"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"}},{"id":"https://openalex.org/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.06129999831318855,"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/robot","display_name":"Robot","score":0.6198999881744385},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.557699978351593},{"id":"https://openalex.org/keywords/dash","display_name":"Dash","score":0.5085999965667725},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5080000162124634},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5023999810218811},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5011000037193298},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.4424000084400177},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42899999022483826},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.40860000252723694},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.39629998803138733}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6198999881744385},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.557699978351593},{"id":"https://openalex.org/C2776090536","wikidata":"https://www.wikidata.org/wiki/Q187819","display_name":"Dash","level":2,"score":0.5085999965667725},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5080000162124634},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5023999810218811},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5011000037193298},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4855000078678131},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.4424000084400177},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43720000982284546},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42899999022483826},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4260999858379364},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41269999742507935},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.40860000252723694},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.39629998803138733},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.39590001106262207},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.3662000000476837},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.3578000068664551},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.3506999909877777},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3407999873161316},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3273000121116638},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.305400013923645},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.3010999858379364},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30079999566078186},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.28209999203681946},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2818000018596649},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.26750001311302185},{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.26669999957084656},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.26499998569488525},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.262800008058548},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.26109999418258667},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.2549999952316284},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.2535000145435333},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.2524999976158142}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.18527","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.18527","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2607.18527","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.18527","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.8938470482826233,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0,38,111],"present":[1],"a":[2,28,49,99,121],"novel":[3],"and":[4,23,36,109,116,130],"minimalistic":[5],"design":[6,115],"of":[7,43,118,123],"an":[8,40],"aerial-terrestrial":[9],"robot":[10,31,80],"DASH:":[11],"Ducted":[12],"Aerial":[13],"Spring":[14],"Hopper.":[15],"The":[16,57],"goal":[17],"is":[18,33,72],"to":[19,90,104],"enable":[20],"both":[21],"aerial":[22,128],"ground":[24,84],"locomotion":[25,93,107,132],"capabilities":[26],"on":[27],"unified":[29],"mobile":[30],"that":[32],"mechanically-minimalistic,":[34],"locomotion-versatile,":[35],"energy-efficient.":[37],"propose":[39],"organic":[41],"integration":[42],"ducted":[44,58],"fan":[45,59],"co-axial":[46],"body":[47],"with":[48,74,86,94,133],"springy":[50],"leg":[51],"at":[52],"the":[53,64,75,79,114],"bottom":[54],"for":[55,67],"realization.":[56],"module":[60],"provides":[61],"thrust-vectoring":[62],"as":[63],"main":[65],"actuation":[66],"agile":[68],"flying;":[69],"when":[70],"it":[71],"combined":[73],"light-weight":[76],"spring":[77],"leg,":[78],"realizes":[81],"highly":[82],"efficient":[83],"hopping":[85],"energy":[87],"circulation.":[88],"Moreover,":[89],"realize":[91],"optimal":[92],"two":[95],"modes,":[96],"we":[97],"employ":[98],"contact-implicit":[100],"model":[101],"predictive":[102],"controller":[103],"automatically":[105],"choose":[106],"modes":[108],"actuation.":[110],"successfully":[112],"validated":[113],"control":[117],"DASH":[119],"through":[120],"range":[122],"tasks,":[124],"including":[125],"periodic":[126],"hopping,":[127],"flight,":[129],"mode-free":[131],"autonomous":[134],"mode":[135],"transitions":[136],"during":[137],"obstacle":[138],"traversal.":[139]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-23T00:00:00"}