{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T15:16:25Z","timestamp":1777734985781,"version":"3.51.4"},"reference-count":31,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2018,8,1]],"date-time":"2018-08-01T00:00:00Z","timestamp":1533081600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2018,8]]},"abstract":"<jats:p>A multirotor with two-dimensional multilinks is proposed to perform aerial transformation and aerial manipulation. First, a modular link structure that comprises a multirotor with a reliable internal communication system was initially developed. Second, a flight control method was further introduced on the basis of linear\u2013quadratic\u2013integral optimal control for aerial transformation. A relaxed hovering solution that neglects the yaw motion stability is proposed to enable stable flight under a certain singular form. Third, the transformable robot was employed as an entire gripper with regards to grasping to perform the whole-body aerial manipulation. A grasp-form searching method was developed to optimize hovering thrust force and joint torque under force-closure grasp, and was followed by an aerial approach and grasp-motion strategy to fulfill the resulting desired grasp form. Finally, experimental results demonstrate the stable aerial transformation as well as the feasibility of the whole-body aerial manipulation system to grasp and carry different types of objects.<\/jats:p>","DOI":"10.1177\/0278364918801639","type":"journal-article","created":{"date-parts":[[2018,9,28]],"date-time":"2018-09-28T00:58:33Z","timestamp":1538096313000},"page":"1085-1112","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":54,"title":["Transformable multirotor with two-dimensional multilinks: Modeling, control, and whole-body aerial manipulation"],"prefix":"10.1177","volume":"37","author":[{"given":"Moju","family":"Zhao","sequence":"first","affiliation":[{"name":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Koji","family":"Kawasaki","sequence":"additional","affiliation":[{"name":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tomoki","family":"Anzai","sequence":"additional","affiliation":[{"name":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiangyu","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shintaro","family":"Noda","sequence":"additional","affiliation":[{"name":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fan","family":"Shi","sequence":"additional","affiliation":[{"name":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kei","family":"Okada","sequence":"additional","affiliation":[{"name":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Masayuki","family":"Inaba","sequence":"additional","affiliation":[{"name":"Department of Mechano-Informatics, The University of Tokyo, Tokyo, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2018,9,27]]},"reference":[{"key":"bibr1-0278364918801639","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206493"},{"key":"bibr2-0278364918801639","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942537"},{"key":"bibr3-0278364918801639","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399042"},{"key":"bibr4-0278364918801639","doi-asserted-by":"publisher","DOI":"10.2322\/tastj.15.a27"},{"key":"bibr5-0278364918801639","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9292-1"},{"key":"bibr6-0278364918801639","doi-asserted-by":"publisher","DOI":"10.1007\/s12532-014-0071-1"},{"key":"bibr7-0278364918801639","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989675"},{"key":"bibr8-0278364918801639","unstructured":"ISO (1993) Road vehicles - interchange of digital information - controller area network (CAN) for high-speed communication. 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