{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,5]],"date-time":"2026-05-05T17:00:28Z","timestamp":1778000428935,"version":"3.51.4"},"reference-count":34,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2023,11,15]],"date-time":"2023-11-15T00:00:00Z","timestamp":1700006400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2024,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Unmanned aerial vehicles (UAVs) possess fast-moving abilities and have been used in various tasks in the past decades. However, their performances are still restricted by insufficient endurance and confined environments. Intuitively, combining other locomotion modes with UAVs, such as diving and driving, would be an appropriate idea to improve the robot\u2019s adaptability and solve the endurance problem. Recently, the terrestrial\/aerial hybrid robots have drawn the researchers\u2019 eyes for their outstanding performances, which can deploy flight mode to traverse insurmountable terrains and ground mode to increase endurance and realize detailed searches. Therefore, this paper developed the autonomous quadrotor tilting hybrid robot (AQT-HR) to achieve terrestrial\/aerial dual-modal mobility and verified that the robot delivers high energy efficiency. The AQT-HR can achieve flying and driving through a quadrotor tilting mechanism, which can alter one single driving force into different directions. Furthermore, the dynamic models of the hybrid robot\u2019s aerial and ground locomotion are derived and introduced into the model-feedforward PID control algorithm for improving the robot\u2019s flying stability. Finally, we conducted some mobility tests and experiments about traversing obstacles to demonstrate that the proposed hybrid robot can realize autonomous mode switching and perform a low energy consumption in ground movement mode.<\/jats:p>","DOI":"10.1017\/s0263574723001376","type":"journal-article","created":{"date-parts":[[2023,11,15]],"date-time":"2023-11-15T04:23:20Z","timestamp":1700022200000},"page":"118-138","source":"Crossref","is-referenced-by-count":8,"title":["The development of a novel terrestrial\/aerial robot: autonomous quadrotor tilting hybrid robot"],"prefix":"10.1017","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2368-2131","authenticated-orcid":false,"given":"Daoxun","family":"Zhang","sequence":"first","affiliation":[]},{"given":"Ming","family":"Xu","sequence":"additional","affiliation":[]},{"given":"Pengming","family":"Zhu","sequence":"additional","affiliation":[]},{"given":"Ce","family":"Guo","sequence":"additional","affiliation":[]},{"given":"Zhengyu","family":"Zhong","sequence":"additional","affiliation":[]},{"given":"Huimin","family":"Lu","sequence":"additional","affiliation":[]},{"given":"Zhiqiang","family":"Zheng","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2023,11,15]]},"reference":[{"key":"S0263574723001376_ref21","first-page":"1371","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Qin","year":"2020"},{"key":"S0263574723001376_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2337555"},{"key":"S0263574723001376_ref3","first-page":"5575","volume-title":"IEEE International Conference on Robotics and Automation","author":"Araki","year":"2017"},{"key":"S0263574723001376_ref26","first-page":"4672","volume-title":"IEEE International Conference on Robotics and Automation","author":"Mulgaonkar","year":"2016"},{"key":"S0263574723001376_ref31","first-page":"553","article-title":"Modeling and simulation of a quadcopter UAV","volume":"23","author":"Ahmed","year":"2016","journal-title":"Nonlinear Stud."},{"key":"S0263574723001376_ref22","first-page":"1503","volume-title":"IEEE International Conference on Mechatronics and Automation","author":"Tanaka","year":"2017"},{"key":"S0263574723001376_ref33","first-page":"3077","volume-title":"American Control Conference","author":"Nemati","year":"2014"},{"key":"S0263574723001376_ref27","first-page":"4834","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Page","year":"2014"},{"key":"S0263574723001376_ref20","first-page":"632","volume-title":"IEEE International Conference on Robotics and Automation","author":"Kossett","year":"2010"},{"key":"S0263574723001376_ref32","doi-asserted-by":"publisher","DOI":"10.1108\/AEAT-12-2019-0266"},{"key":"S0263574723001376_ref9","first-page":"1361","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Daler","year":"2013"},{"key":"S0263574723001376_ref7","first-page":"1514","volume-title":"IEEE International Conference on Mechatronics and Automation","author":"Zhu","year":"2019"},{"key":"S0263574723001376_ref24","first-page":"393","volume-title":"IEEE International Conference on Real-time Computing and Robotics","author":"Zhang","year":"2021"},{"key":"S0263574723001376_ref16","first-page":"4445","volume-title":"IEEE International Conference on Robotics and Automation","author":"Kalantari","year":"2013"},{"key":"S0263574723001376_ref1","first-page":"3070","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Fan","year":"2019"},{"key":"S0263574723001376_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/JAS.2018.7511258"},{"key":"S0263574723001376_ref2","first-page":"1508","volume-title":"IEEE International Conference on Mechatronics and Automation","author":"Guo","year":"2019"},{"key":"S0263574723001376_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3077851"},{"key":"S0263574723001376_ref34","first-page":"5420","volume-title":"IEEE Conference on Decision and Control","author":"Lee","year":"2010"},{"key":"S0263574723001376_ref10","first-page":"5149","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Morton","year":"2017"},{"key":"S0263574723001376_ref12","first-page":"5302","volume-title":"IEEE International Conference on Robotics and Automation","author":"Meiri","year":"2019"},{"key":"S0263574723001376_ref17","first-page":"5863","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Dudley","year":"2015"},{"key":"S0263574723001376_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3145505"},{"key":"S0263574723001376_ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3056095"},{"key":"S0263574723001376_ref15","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719001589"},{"key":"S0263574723001376_ref30","first-page":"650","volume-title":"International Conference on Computer Application and System Modeling","author":"Chen","year":"2012"},{"key":"S0263574723001376_ref5","first-page":"1","volume-title":"IEEE Aerospace Conference","author":"Kalantari","year":"2020"},{"key":"S0263574723001376_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3256920"},{"key":"S0263574723001376_ref29","first-page":"1","article-title":"Design and modeling of a novel transformable land\/air robot","volume":"2019","author":"Wang","year":"2019","journal-title":"Int. J. Aerosp. Eng."},{"key":"S0263574723001376_ref4","first-page":"270","volume-title":"IEEE International Conference on Robotics and Biomimetics","author":"Hu","year":"2017"},{"key":"S0263574723001376_ref14","first-page":"1464","volume-title":"IEEE International Conference on Mechatronics and Automation","author":"Zhang","year":"2018"},{"key":"S0263574723001376_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3190099"},{"key":"S0263574723001376_ref8","first-page":"8158","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Shin","year":"2018"},{"key":"S0263574723001376_ref13","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574718000498"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574723001376","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,16]],"date-time":"2024-01-16T07:01:06Z","timestamp":1705388466000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574723001376\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,11,15]]},"references-count":34,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2024,1]]}},"alternative-id":["S0263574723001376"],"URL":"https:\/\/doi.org\/10.1017\/s0263574723001376","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,11,15]]}}}