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Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
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.…
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
Unmanned Aerial Vehicles(UAVs) are attaining more and more maneuverability and sensory ability as a promising teleoperation platform for intelligent interaction with the environments. This work presents a novel 5-degree-of-freedom (DoF)…
Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aerial robots as a way to save energy, and deformable structure…
Multimodal locomotion capability is an emerging topic in robotics field, and various novel mobile robots have been developed to enable the maneuvering in both terrestrial and aerial domains. Among these hybrid robots, several…
Tailsitter aircraft attract considerable interest due to their capabilities of both agile hover and high speed forward flight. However, traditional tailsitters that use aerodynamic control surfaces face the challenge of limited control…
Extending the maneuverability of unmanned areal vehicles promises to yield a considerable increase in the areas in which these systems can be used. Some such applications are the performance of more complicated inspection tasks and the…
The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…
The introduction of fully-actuated multirotors has opened the door to new possibilities and more efficient solutions to many real-world applications. However, their integration had been slower than expected, partly due to the need for new…
The operation of multirotors in crowded environments requires a highly reliable takeoff method, as failures during takeoff can damage more valuable assets nearby. The addition of a ballistic launch system imposes a deterministic path for…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
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…
Designing aerial robots for specialized tasks, from perching to payload delivery, requires tailoring their aerodynamic shape to specific mission requirements. For tasks involving wide flight envelopes, the usual sequential process of first…
This paper proposes a fault-tolerant control strategy based on a tilt-rotor quadcopter prototype, utilizing nonlinear model predictive control to maintain both attitude and position stability in the event of rotor failure. The control…
Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…