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In this article, a bimodal reconfigurable robot capable of operating in both regular quadcopter flight mode and a unique revolving flight mode is presented, which allows independent control of the vehicle's position and roll\u2010pitch attitude. This design incorporates passive revolute joints that enable seamless mid\u2010air transitions between the two modes, facilitated by centrifugal forces, without the need for additional actuators. In the regular mode, the robot operates with four vertical propellers, similar to conventional designs. In the revolving mode, the configuration shifts to two horizontal and two vertical propellers, achieving five degrees of freedom control with four actuators. This underactuated flight capability is made possible by exploiting the robot's fast revolving motion and the resulting cycle\u2010averaged forces and torques. Experimental validations confirm the feasibility and enhance the maneuverability of this design. The revolving flight mode provides significant advantages in applications such as mapping and confined space navigation.<\/jats:p>","DOI":"10.1002\/aisy.202400464","type":"journal-article","created":{"date-parts":[[2024,10,8]],"date-time":"2024-10-08T03:32:12Z","timestamp":1728358332000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["An Aerial Robot Achieving Bimodal Flight and Independent Attitude Control through Passive Morphing"],"prefix":"10.1002","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1468-4285","authenticated-orcid":false,"given":"Jihao","family":"Xu","sequence":"first","affiliation":[{"name":"Department of Biomedical Engineering City University of Hong Kong  Tat Chee Avenue Hong Kong SAR China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0142-8394","authenticated-orcid":false,"given":"Pakpong","family":"Chirarattananon","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering City University of Hong Kong  Tat Chee Avenue Hong Kong SAR China"},{"name":"Department of Mechanical Engineering City University of Hong Kong  Tat Chee Avenue Hong Kong SAR China"},{"name":"Centre for Nature\u2010Inspired Engineering City University of Hong Kong  Tat Chee Avenue Hong Kong SAR China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2024,10,8]]},"reference":[{"key":"e_1_2_11_2_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abg5913"},{"key":"e_1_2_11_3_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.ade4538"},{"key":"e_1_2_11_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3335670"},{"key":"e_1_2_11_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3182503"},{"key":"e_1_2_11_6_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-023-06419-4"},{"key":"e_1_2_11_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2021.3049471"},{"key":"e_1_2_11_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3406061"},{"key":"e_1_2_11_9_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.add5762"},{"key":"e_1_2_11_10_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abg1188"},{"key":"e_1_2_11_11_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200113"},{"key":"e_1_2_11_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2022.3164929"},{"key":"e_1_2_11_13_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-023-39018-y"},{"key":"e_1_2_11_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3279624"},{"key":"e_1_2_11_15_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200242"},{"key":"e_1_2_11_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3205454"},{"key":"e_1_2_11_17_1","author":"Jia H.","year":"2023","journal-title":"IEEE\/ASME Trans. 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