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In field environments, numerous robots necessitate manual intervention for restoration of functionality post a turnover, resulting in diminished operational efficiency. This study presents an innovative design solution for a reversible…
We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an under-actuated to a fully-actuated configuration with only one additional control input, a motor that synchronously tilts all propellers. The…
Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…
Multirotor aerial robots excel at maneuvering in three-dimensional space, and recent advances enable nimble navigation in cluttered and confined environments, especially for small airframes. By contrast, platforms built for high-altitude…
Problems associated with physical interactions using aerial mobile manipulators (AMM) are being independently addressed with respect to mobility and manipulability. Multirotor unmanned aerial vehicles (UAV) are a common choice for mobility…
Multirotors are usually desired to enter confined narrow tunnels that are barely accessible to humans in various applications including inspection, search and rescue, and so on. This task is extremely challenging since the lack of geometric…
Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…
In recent years, autonomous mobile platforms are finding an increasing range of applications in inspection or surveillance tasks, or to the transport of objects, in places such as smart warehouses, factories or hospitals. In these…
Hybrid unmanned aircraft can significantly increase the potential of micro air vehicles, because they combine hovering capability with a wing for fast and efficient forward flight. However, these vehicles are very difficult to control,…
This paper introduces Borinot, an open-source flying robotic platform designed to perform hybrid agile locomotion and manipulation. This platform features a compact and powerful hexarotor that can be outfitted with torque-actuated…
We consider the hovering control problem for a class of multi-rotor aerial platforms with generically oriented propellers. Given the intrinsically coupled translational and rotational dynamics of such vehicles, we first discuss some…
Missions such as the Ingenuity helicopter have shown the advantages of using novel locomotion modes to increase the scientific return of planetary exploration missions. Legged robots can further expand the reach and capability of future…
Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are…
In this paper, we first present a method to autonomously detect helipads in real time. Our method does not rely on any machine-learning methods and as such is applicable in real-time on the computational capabilities of an average…
Developing aerial robots that can both safely navigate and execute assigned mission without any human intervention - i.e., fully autonomous aerial mobility of passengers and goods - is the larger vision that guides the research, design, and…
Low-cost autonomous Micro Aerial Vehicles (MAVs) have the potential to help humans by simplifying and speeding up complex tasks that require their interaction with the environment, such as construction, package delivery, and search and…
Robot performance has advanced considerably both in and out of the factory, however in tightly constrained, unknown environments such as inside a jet engine or the human heart, current robots are less adept. In such cases where a borescope…
Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…
This work briefly covers our efforts to stabilize the flight dynamics of Northeastern's tailless bat-inspired micro aerial vehicle, Aerobat. Flapping robots are not new. A plethora of examples is mainly dominated by insect-style design…
3D printing using robots has garnered significant interest in manufacturing and construction in recent years. A robot's versatility paired with the design freedom of 3D printing offers promising opportunities for how parts and structures…