Related papers: Design of a Flying Humanoid Robot Based on Thrust …

This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generated by each rotor during flight is one of the main challenges…

Jumping and hopping locomotion are efficient means of traversing unstructured rugged terrain with the former being the focus of roboticists; a focus that has recently been changing. This focus has led to significant performance and…

This paper presents a CAD-driven co-design framework for optimizing jet-powered aerial humanoid robots to execute dynamically constrained trajectories. Starting from the iRonCub-Mk3 model, a Design of Experiments (DoE) approach is used to…

Flying robots, such as quadrotor drones, offer new possibilities for human-robot interaction but often pose safety risks due to fast-spinning propellers, rigid structures, and noise. In contrast, lighter-than-air flapping-wing robots,…

We consider dynamic stair climbing with the HRP-4 humanoid robot as part of an Airbus manufacturing use-case demonstrator. We share experimental knowledge gathered so as to achieve this task, which HRP-4 had never been challenged to before.…

When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This…

This paper presents the design of Variable-Pitch-Propeller mechanism and its application on a quadcopter called Heliquad to demonstrate its unique capabilities. The input-output relationship is estimated for a generic mechanism. Various…

Recently several hierarchical inverse dynamics controllers based on cascades of quadratic programs have been proposed for application on torque controlled robots. They have important theoretical benefits but have never been implemented on a…

This study presents the design and control of a Plasma-propelled Ultra-silence Blimp (PUB), a novel aerial robot employing plasma vector propulsion for ultra-quiet flight without mechanical propellers. The system utilizes a helium-lift…

Biologically-inspired robots are a very interesting and difficult branch of robotics dues to its very rich dynamical and morphological complexities. Among them, flying animals, such as bats, have been among the most difficult to take…

Biological studies show that hummingbirds can perform extreme aerobatic maneuvers during fast escape. Given a sudden looming visual stimulus at hover, a hummingbird initiates a fast backward translation coupled with a 180-degree yaw turn,…

This work briefly covers our efforts to stabilize the flight dynamics of Northeastern's tailless bat-inspired micro aerial vehicle, Aerobat. Flapping robots are not new. A plethora of examples is mainly dominated by insect-style design…

Insect-scale micro-aerial vehicles, especially lightweight, flapping-wing robots, are becoming increasingly important for safe motion sensing in spatially constrained environments such as living spaces. However, yaw control using flapping…

Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of mass--inertial properties. Humanoid robots built with a purely tree type architecture…

Recent trends in humanoid robot control have successfully employed imitation learning to enable the learned generation of smooth, human-like trajectories from human data. While these approaches make more realistic motions possible, they are…

We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and…

This paper introduces Borinot, an open-source flying robotic platform designed to perform hybrid agile locomotion and manipulation. This platform features a compact and powerful hexarotor that can be outfitted with torque-actuated…

This paper presents a first contribution to the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations. In particular, we target a fleet of robots for collaborative tasks with humans, such as…

This paper presents a 3-DOF hopping robot with a human-like lower-limb joint configuration and a flat foot, capable of performing dynamic and repetitive jumping motions. To achieve both high torque output and a large hollow shaft diameter…

We present a novel controller design on a robotic locomotor that combines an aerial vehicle with a spring-loaded leg. The main motivation is to enable the terrestrial locomotion capability on aerial vehicles so that they can carry heavy…