Related papers: Towards Practical Autonomous Flight Simulation for…
While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional…
Inspired by flight characteristics captured from live Monarch butterflies, an optimal control problem is presented while accounting the effects of low-frequency flapping and abdomen undulation. A flapping-wing aerial vehicle is modeled as…
Inspired by the wake-surfing nature of animals, this study aims to understand the aerodynamic force variation on a wing surfing in an unsteady 2-D wake. Wind tunnel experiments were conducted using Particle Image Velocimetry (PIV) and force…
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…
This paper reports a reduced-order modeling framework of bladed disks on a rotating shaft to simulate the vibration signature of faults like cracks in different components aiming towards simulated data-driven machine learning. We have…
Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…
Fluid dynamics, and flight in particular, is a domain where organisms challenge our understanding of its physics. Integrating the current knowledge of animal flight, we propose to revisit the use of live animals to study physical phenomena.…
This paper proposes a novel method for prevention of the increasing oscillation of an aircraft wing under the flexural torsion flutter. The paper introduces the novel multi-agent method for control of an aircraft wing, assuming that the…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
Collective patterns of motion emerge across biological taxa: insects swarm, fish school, and birds flock. In particular, large migratory birds form strikingly ordered V-shaped formations, which experiments and direct numerical simulations…
In this work, we start with a generic mathematical framework for the equations of motion (EOM) in flight mechanics with six degrees of freedom (6-DOF) for a general (not necessarily symmetric) fixed-wing aircraft. This mathematical…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
This paper delineates the formulation and verification of an innovative robotic forearm and elbow design, mirroring the intricate biomechanics of human skeletal and ligament systems. Conventional robotic models often undervalue the…
A deformable land-air robot is introduced with excellent driving and flying capabilities, offering a smooth switching mechanism between the two modes. An elaborate coupled dynamics model is established for the robot, including rotors,…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…
Vertical take-off and landing (VTOL) aircraft do not require a prolonged runway, thus allowing them to land almost anywhere. In recent years, their flexibility has made them popular in development, research, and operation. When compared to…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
Sub-gram flapping-wing flying insect robots (FIRs) are challenging to model because of mechanical complexity in their wings, unsteady aerodynamic flow, and the difficulty of making precise measurements at a small scale. Coupling effects…
Dynamic soaring is a flying technique to exploit the energy available in wind shear layers, enabling potentially unlimited flight without the need for internal energy sources. We propose a framework for autonomous dynamic soaring with a…
Laminate mechanisms are a reliable concept in producing lowcost robots for educational and commercial purposes. These mechanisms are produced using low-cost manufacturing techniques which have improved significantly during recent years and…