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This paper proposes an adaptive near-hover position controller for quadcopters, which can be deployed to quadcopters of very different mass, size and motor constants, and also shows rapid adaptation to unknown disturbances during runtime.…
High-resolution numerical simulations of a tethered model bumblebee in forward flight are performed superimposing homogeneous isotropic turbulent fluctuations to the uniform inflow. Despite tremendous variation in turbulence intensity,…
Fault-tolerant flight control faces challenges, as developing a model-based controller for each unexpected failure is unrealistic, and online learning methods can handle limited system complexity due to their low sample efficiency. In this…
Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control for humanlike long-time, dynamic fighting remains particularly challenging due to the stringent requirements on agility and…
Thermal soaring enables birds to perform cost-efficient flights during foraging or migration trips. Yet, although all soaring birds exploit vertical winds effectively, this group contains species that vary strongly in their morphologies.…
Wheeled-legged robots combine the energy efficiency of wheeled locomotion with the terrain adaptability of legged systems, making them promising platforms for agile mobility in complex and dynamic environments. However, enabling…
Natural fliers like bats exploit the complex fluid-structure interaction between their flexible membrane wings and the air with great ease. Yet, replicating and scaling the balance between the structural and fluid-dynamical parameters of…
Recent work has shown that 2-arm "fling" motions can be effective for garment smoothing. We consider single-arm fling motions. Unlike 2-arm fling motions, which require little robot trajectory parameter tuning, single-arm fling motions are…
This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking controllers based on the available states for feedback. 1. The…
Robotic shepherding problem considers the control and navigation of a group of coherent agents (e.g., a flock of bird or a fleet of drones) through the motion of an external robot, called shepherd. Machine learning based methods have…
A bio-inspired, passively deployable flap attached to an airfoil by a torsional spring of fixed stiffness can provide significant lift improvements at post-stall angles of attack. In this work, we describe a hybrid active-passive variant to…
In this paper, we consider tensegrity hopper - a novel tensegrity-based robot, capable of moving by hopping. The paper focuses on the design of the stabilizing control policies, which are obtained with Augmented Random Search method. In…
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…
Unmanned aircraft systems can perform some more dangerous and difficult missions than manned aircraft systems. In some highly complicated and changeable tasks, such as air combat, the maneuvering decision mechanism is required to sense the…
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…
Animals such as rabbits and birds can instantly generate locomotion behavior in reaction to a dynamic, approaching object, such as a person or a rock, despite having possibly never seen the object before and having limited perception of the…
Hybrid model predictive control with both continuous and discrete variables is widely applicable to robotic control tasks, especially those involving contacts with the environment. Due to combinatorial complexity, the solving speed of…
In this paper, we propose a robust controller that achieves natural and stably fast locomotion on a real blind quadruped robot. With only proprioceptive information, the quadruped robot can move at a maximum speed of 10 times its body…
In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive swing foot reflection. While adaptive balancing counteracts perturbations to the robot, adaptive swing foot reflection helps the robot to navigate…
For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected deformability and irregularity. In this paper, we explore the…