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Flapping wing flight is a challenging dynamical problem and is also a very fascinating subject to study in the field of biomimetic robotics. A Bat, in particular, has a very articulated armwing mechanism with high degrees-of-freedom and…
Accurate estimation of aerodynamic forces is essential for advancing the control, modeling, and design of flapping-wing aerial robots with dynamic morphing capabilities. In this paper, we investigate two distinct methodologies for force…
Flapping-wing insects, birds, and robots are thought to offset the high power cost of oscillatory wing motion by using elastic elements for energy storage and return. Insects possess highly resilient elastic regions in their flight anatomy…
There is evidence that flying animals such as pigeons, goshawks, and bats use optical flow sensing to enable high-speed flight through forest clutter. This paper discusses the elements of a theory of controlled flight through obstacle…
Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted…
The aerial environment in the operating domain of small-scale natural and artificial flapping wing fliers is highly complex, unsteady and generally turbulent. Considering flapping flight in an unsteady wind environment with a periodically…
High-velocity dynamic actions (e.g., fling or throw) play a crucial role in our everyday interaction with deformable objects by improving our efficiency and effectively expanding our physical reach range. Yet, most prior works have tackled…
An aerial vehicle powered by flapping feathered wings was designed, developed and fabricated. Different from legacy flapping-wing aerial vehicles with membrane wings, the new design uses authentic bird feathers to fabricate wings. In field…
Dynamic morphing wing flights present significant challenges in accurately estimating external forces due to complex interactions between aerodynamics, rapid wing movements, and external disturbances. Traditional force estimation methods…
In this paper, we present a full design of a flying robot to investigate the state of power grid components and to perform the appropriate maintenance procedures according to each fail or defect that could be recognized. To realize this…
Physical interaction between humans and robots can help robots learn to perform complex tasks. The robot arm gains information by observing how the human kinesthetically guides it throughout the task. While prior works focus on how the…
The 3D flight control of a flapping wing robot is a very challenging problem. The robot stabilizes and controls its pose through the aerodynamic forces acting on the wing membrane which has complex dynamics and it is difficult to develop a…
Flapping wings are a bio-inspired method to produce lift and thrust in aerial robots, leading to quiet and efficient motion. The advantages of this technology are safety and maneuverability, and physical interaction with the environment,…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
Aerial insects exhibit highly agile maneuvers such as sharp braking, saccades, and body flips under disturbance. In contrast, insect-scale aerial robots are limited to tracking non-aggressive trajectories with small body acceleration. This…
State estimation and control is a well-studied problem in conventional aerial vehicles such as multi-rotors. But multi-rotors, while versatile, are not suitable for all applications. Due to turbulent airflow from ground effects,…
Hovering insects are limited by their physiology and need to rotate their wings at the end of each back and forth motion to keep the wing's leading edge ahead of its trailing edge. The wing rotation at the end of each half-stroke pushes the…
Vision is an essential part of attitude control for many flying animals, some of which have no dedicated sense of gravity. Flying robots, on the other hand, typically depend heavily on accelerometers and gyroscopes for attitude…
This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a…
Flying vertebrates exhibit sophisticated wingbeat kinematics. Their specialized forelimbs allow for the wing morphing motion to couple with the flapping motion during their level flight, Previous flyable bionic platforms have successfully…