Related papers: Versatile Multilinked Aerial Robot with Tilting Pr…
This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…
For the aerial manipulator that performs aerial work tasks, the actual operating environment it faces is very complex, and it is affected by internal and external multi-source disturbances. In this paper, to effectively improve the…
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…
Falling cat problem is well-known where cats show their super aerial reorientation capability and can land safely. For their robotic counterparts, a similar falling quadruped robot problem, has not been fully addressed, although achieving…
Flying animals resort to fast, large-degree-of-freedom motion of flapping wings, a key feature that distinguishes them from rotary or fixed-winged robotic fliers with limited motion of aerodynamic surfaces. However, flapping-wing…
Robot designs can take many inspirations from nature, where there are many examples of highly resilient and fault-tolerant locomotion strategies to navigate complex terrains by using multi-functional appendages. For example, Chukar and…
Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation,…
Sailing robots provide a low-cost solution to conduct the ocean missions such as marine exploration, pollution detection, and border surveillance, etc. However, compared with other propeller-driven surface vessels, sailboat suffers in…
Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…
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,…
Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance…
This paper presents an estimation and control algorithm for an aerial manipulator using a hexacopter with a 2-DOF robotic arm. The unknown parameters of a payload are estimated by an on-line estimator based on parametrization of the aerial…
The aim of this article is the formulation of a switching model predictive control framework for the case of a foldable quadrotor with the ability to retain the overall control quality during online structural reformations. The majority of…
In this paper, we present a novel developmental reinforcement learning-based controller for a quadcopter with thrust vectoring capabilities. This multirotor UAV design has tilt-enabled rotors. It utilizes the rotor force magnitude and…
Sliding mode control of a launch vehicle during its atmospheric flight phase is studied in the presence of unmatched disturbances. Linear time-varying dynamics of the aerospace vehicle is converted into a systematic formula and then dynamic…
Avian-informed drones feature morphing wing and tail surfaces, enhancing agility and adaptability in flight. Despite their large potential, realising their full capabilities remains challenging due to the lack of generalized control…
In this work, we present Tilt-Ropter, a novel hybrid aerial-terrestrial vehicle (HATV) that combines tilt rotors with passive wheels to achieve energy-efficient multi-mode locomotion. Unlike existing under-actuated HATVs, the fully actuated…
This paper investigates payload grasping from a moving platform using a hook-equipped aerial manipulator. First, a computationally efficient trajectory optimization based on complementarity constraints is proposed to determine the optimal…
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…
Amphibious robots, operating seamlessly across land and water, are advancing applications in conservation, disaster response, and defense. Their performance depends on locomotion mechanisms, actuation technologies, and sensor-control…