Valentino Rossi has spoken of his intense disappointment at being unable to succeed in MotoGP with Ducati.

The seven time MotoGP champion will return to Yamaha next season, after claiming just two podiums in 27 races on the Desmosedici.

Official statements confirming his Ducati departure and new two-year Yamaha deal contained no comments from Rossi.

The Doctor then sent a series of Tweets expressing his regret at not being competitive on the Ducati, but Thursday at Indianapolis marked the first time the 33-year-old had spoken in public.

"After Laguna and the summer break, I have enough time for to think more deeply to my future," began Rossi. "You know, this is a great pity for me and Ducati and for all of our fans, but especially for all the guys that work with me at this project because I want to try to be competitive.

"Italian rider with Italian bike, but unfortunately, it doesn't happen. These two seasons are very difficult, and we are struggling very much. Unfortunately, we were not able to improve our speed, our performance, and to fight for the good position, for the front position.

"So I decide for these reasons that it is enough and my choice is [Yamaha] because I try to understand which is the best bike, the more competitive bike for the next two years that maybe at the end of my career, or anyway the last part, and this is the choice.

"It's a great pity. I'm very sad, also, because in Ducati I found a lot of good people. We had great times together. We try the maximum, but unfortunately we were not able to achieve the result. So this is what makes the difference."

Asked if his time at Ducati had been a humbling experience, Rossi replied: "I cannot say no. I mean, you can use which word you prefer. It was very, very difficult. It's not true that we don't try, we try the maximum. But I was never able to be fast with the Ducati, and this is a great, great pity, a very bad thing, especially for me and for my team."

Rossi rejected an imaginative suggestion that some of his Ducati difficulties were somehow caused by a lack of technical development by former rider - and Ducati's only world champion - Casey Stoner.

"I never say this," declared Rossi.

Instead, Rossi indicated that the only 'problem' Stoner had caused was to make the Desmosedici seem better than it actually was.

"I just said that for Ducati the problem - the positive problem - was that Stoner was very fast with that bike and [this] was also a problem for us for to make the decision [to join Ducati] at the end of 2010.

"But, you know, the reality is that I was never fast with that bike from the first test to now. And unfortunately together with Ducati we were not able to improve the bike and to fix the problem that the bike have."

A winner of 105 grands prix since his 1996 125cc debut, Rossi is now experiencing by far the longest win drought of his epic career. How has it changed him?

"I don't know. A lot of people say that in the difficult moment, in the bad moment people become stronger, so I hope," he said.

"It has been a long time that I am here to fight, unfortunately not to win.

"But about myself, for me it doesn't change a lot."

How long Rossi remains in MotoGP will now depend on his results at Yamaha, with a post-GP switch to World Superbike possible. No rider has yet won both the 500cc/MotoGP and WSBK titles.

"My future will depend a lot from the result of the next two seasons," he said. "Because I want to remain more than two seasons in MotoGP but it depends how much I'm strong and I'm fast with the M1.

"And to have the opportunity for the future for Superbike, yeah, I always say. But it's very early to say, because I hope to be faster, to be competitive, to enjoy and remain in MotoGP more than two seasons."

Rossi is currently eighth in the 2012 World Championship and has eight rounds in which to try and claim a Ducati win.

"This is an important period because Brno is a good track [for us], and after Brno we will have some important tests in Misano. We have to try to improve our pace for the rest of the races because, anyway, eight races is a long way," he said.

Rossi's Ducati replacement is yet to be announced, with countryman Andrea Dovizioso favourite for the ride. Rossi wished him and Ducati all the best.

"I think that in the future things will change a lot in Ducati, especially because Audi arrive and give a lot of money but especially a lot of experience, a lot of technical help," said Rossi.

"So a great, good luck to Dovizioso with the Ducati - if he will ride the Ducati - and especially to Ducati good luck to achieve better results than these two seasons."

Rossi confirmed that his team of mechanics, led by crew chief Jerry Burgess, are set to return with him to Yamaha.

Burgess plus Bernard Anciau, Alex Briggs and Gary Coleman made the initial switch from Honda to Yamaha with Rossi for 2004, and were joined by further team members during the ill-fated switch to Ducati in 2011.

Rossi said: "I think my crew come with me. More or less the same guys that came with me from Yamaha to Ducati. But is still not decided 100 percent. I think we have to fix some of the [contract] ties."

Rossi's Yamaha contract is for two years. The #46 will ride alongside this year's world championship leader Jorge Lorenzo, Rossi's team-mate from 2008-2010.

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