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This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
This paper describes a wearable wireless mouse-cursor controller that optically tracks the degree of tilt of the user's head to move the mouse relative distances and therefore the degrees of tilt. The raw data can be processed locally on…
Star-shaped Tilted Hexarotors are rapidly emerging for applications highly demanding in terms of robustness and maneuverability. To ensure improvement in such features, a careful selection of the tilt angles is mandatory. In this work, we…
Small unmanned aerial vehicles (UAVs) have become standard tools in reconnaissance and surveying for both civilian and defense applications. In the future, UAVs will likely play a pivotal role in autonomous package delivery, but current…
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…
This work develops a unified optimal control framework for a Quadrotor Biplane tailsitter UAV capable of operating seamlessly across hover, transition, and cruise flight regimes. Although the tailsitter configuration enables mechanically…
In this work, we investigate the use of co-design methods to iterate upon robot designs in the field, performing time sensitive, ad-hoc tasks. Our method optimizes the morphology and wheg trajectory for a MiniRHex robot, producing 3D…
This paper presents a theoretical study on the ability of multi-rotor aerial vehicles (MRAVs) with tiltable propellers to achieve and sustain static hovering at different orientations. To analyze the ability of MRAVs with tiltable…
While humans can use parts of their arms other than the hands for manipulations like gathering and supporting, whether robots can effectively learn and perform the same type of operations remains relatively unexplored. As these…
Dynamic legged locomotion is a challenging topic because of the lack of established control schemes which can handle aerial phases, short stance times, and high-speed leg swings. In this paper, we propose a controller combining whole-body…
This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded…
Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…
The task of self-balancing is one of the most important tasks when developing humanoid robots. This paper proposes a novel external balance mechanism for humanoid robot to maintain sideway balance. First, a dynamic model of the humanoid…
Developing kinesthetic haptic devices with advanced haptic rendering capabilities is challenging due to the limitations on driving mechanisms. In this study, we introduce a novel soft electrohydraulic actuator and develop a kinesthetic…
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…
Teleoperation systems are essential for efficiently collecting diverse and high-quality robot demonstration data, especially for complex, contact-rich tasks. However, current teleoperation platforms typically lack integrated force feedback,…
Star trackers are state-of-the-art attitude estimation devices which function by recognising and tracking star patterns. Most commercial star trackers use conventional optical sensors. A recent alternative is to use event sensors, which…
Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose limited mobility constrains exploration in complex terrains.…
This paper introduces a high-performance artificial intelligence operating system tailored for low-altitude aviation, designed to address key challenges such as real-time task execution, computational efficiency, and seamless modular…
With inspiration from arthropods' exoskeletons, we designed a simple, easily manufactured, semi-rigid structure with flexible joints that can passively damp impact energy. This exoskeleton fuses the protective shell to the main robot…