Publications

Yicheng Chen, Jinjie Li, Haokun Liu, Zicheng Luo, Kotaro Kaneko, Moju Zhao. Hierarchical Trajectory Planning of Floating-Base Multi-Link Robot for Maneuvering in Confined Environments. IEEE Transactions on Automation Science and Engineering, 2026.

Kotaro Kaneko, Junichiro Sugihara, Kazuki Sugihara, Masaki Kitagawa, Keisuke Nagato, Moju Zhao. A Teleoperation Framework for an Articulated Aerial Robot with Full DoF Mapping of Base Pose and Joint Angles. 2026 IEEE/SICE International Symposium on System Integration (SII), 2026.

Keiichiro Kan, Junichiro Sugihara, Jinjie Li, Masaki Kitagawa, Kotaro Kaneko, Moju Zhao. Design, Modeling and Control of a Deformable Quadrotor Using McKibben Pneumatic Actuators. 2026 IEEE/SICE International Symposium on System Integration (SII), 2026.

Haokun Liu, Zhaoqi Ma, Yunong Li, Junichiro Sugihara, Yicheng Chen, Jinjie Li, Moju Zhao. Hierarchical Language Models for Semantic Navigation and Manipulation in an Aerial-Ground Robotic System. Advanced Intelligent Systems, 2025.

Jinjie Li, Jiaxuan Li, Kotaro Kaneko, Haokun Liu, Liming Shu, Moju Zhao. Six-DoF Hand-Based Teleoperation for Omnidirectional Aerial Robots. 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.

Kazuki Numazato, Keiichiro Kan, Masaki Kitagawa, Yunong Li, Johannes Kübel, Moju Zhao. Falconry-like palm landing by a flapping-wing drone based on the human gesture interaction and distance-aware flight planning. 2025 IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2025.

Hisaaki Iida, Junichiro Sugihara, Kazuki Sugihara, Haruki Kozuka, Jinjie Li, Keisuke Nagato, Moju Zhao. Adaptive Perching and Grasping by Aerial Robot with Light-Weight and High Grip-Force Tendon-Driven Three-Fingered Hand Using Single Actuator. 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025.

Moju Zhao. Aerial Grasping by Multi-Limbed Flying Robot SPIDAR Based on Vectored Thrust Control. 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025.

Shotaro Itahara, Takuzumi Nishio, Taiki Ishigaki, Junichiro Sugihara, Moju Zhao, Ko Yamamoto. Modeling and Control of Aerial Robot SERPENT: A Soft Structure Incorporated Multirotor Aerial Robot Capable of In-Flight Flexible Deformation. 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025.

Jinjie Li, Junichiro Sugihara, Moju Zhao. Servo Integrated Nonlinear Model Predictive Control for Overactuated Tiltable-Quadrotors. IEEE Robotics and Automation Letters, 2024.

Yunong Li, Junichiro Sugihara, Takuzumi Nishio, Moju Zhao. Cooperative Navigation System of AGV and UAV with Autonomous and Precise Landing. 2024 IEEE International Conference on Mechatronics and Automation (ICMA), 2024.

Junichiro Sugihara, Takuzumi Nishio, Keisuke Nagato, Masayuki Nakao, Moju Zhao. Design, Control, and Motion Strategy of TRADY: Tilted-Rotor-Equipped Aerial Robot With Autonomous In-Flight Assembly and Disassembly Ability. Advanced Intelligent Systems, 2023.

Moju Zhao, Tomoki Anzai, Takuzumi Nishio. Design, Modeling, and Control of a Quadruped Robot SPIDAR: Spherically Vectorable and Distributed Rotors Assisted Air-Ground Quadruped Robot. IEEE Robotics and Automation Letters, 2023.

Moju Zhao, Kei Okada, Masayuki Inaba. Versatile articulated aerial robot DRAGON: Aerial manipulation and grasping by vectorable thrust control. The International Journal of Robotics Research, 2023.

Moju Zhao, Keisuke Nagato, Kei Okada, Masayuki Inaba, Masayuki Nakao. Forceful Valve Manipulation With Arbitrary Direction by Articulated Aerial Robot Equipped With Thrust Vectoring Apparatus. IEEE Robotics and Automation Letters, 2022.

Moju Zhao, Tomoki Anzai, Fan Shi, Toshiya Maki, Takuzumi Nishio, Keita Ito, Naoki Kuromiya, Kei Okada, Masayuki Inaba. Versatile multilinked aerial robot with tilted propellers: Design, modeling, control, and state estimation for autonomous flight and manipulation. Journal of Field Robotics, 2021.

Moju Zhao, Tomoki Anzai, Kei Okada, Koji Kawasaki, Masayuki Inaba. Singularity-Free Aerial Deformation by Two-Dimensional Multilinked Aerial Robot With 1-DoF Vectorable Propeller. IEEE Robotics and Automation Letters, 2021.

Moju Zhao, Kei Okada, Masayuki Inaba. Enhanced Modeling and Control for Multilinked Aerial Robot With Two DoF Force Vectoring Apparatus. IEEE Robotics and Automation Letters, 2021.

Moju Zhao, Fan Shi, Tomoki Anzai, Kei Okada, Masayuki Inaba. Online Motion Planning for Deforming Maneuvering and Manipulation by Multilinked Aerial Robot Based on Differential Kinematics. IEEE Robotics and Automation Letters, 2020.

Moju Zhao, Fan Shi, Tomoki Anzai, Krishneel Chaudhary, Xiangyu Chen, Kei Okada, Masayuki Inaba. Flight Motion of Passing Through Small Opening by DRAGON: Transformable Multilinked Aerial Robot. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.

Moju Zhao, Koji Kawasaki, Tomoki Anzai, Xiangyu Chen, Shintaro Noda, Fan Shi, Kei Okada, Masayuki Inaba. Transformable multirotor with two-dimensional multilinks: Modeling, control, and whole-body aerial manipulation. The International Journal of Robotics Research, 2018.

Moju Zhao, Tomoki Anzai, Fan Shi, Xiangyu Chen, Kei Okada, Masayuki Inaba. Design, Modeling, and Control of an Aerial Robot DRAGON: A Dual-Rotor-Embedded Multilink Robot With the Ability of Multi-Degree-of-Freedom Aerial Transformation. IEEE Robotics and Automation Letters, 2018.

Moju Zhao, Koji Kawasaki, Xiangyu Chen, Shintaro Noda, Kei Okada, Masayuki Inaba. Whole-body aerial manipulation by transformable multirotor with two-dimensional multilinks. 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017.

Moju Zhao, Koji Kawasaki, Kei Okada, Masayuki Inaba. Transformable multirotor with two-dimensional multilinks: modeling, control, and motion planning for aerial transformation. Advanced Robotics, 2016.