Related papers: MorphoGear: An UAV with Multi-Limb Morphogenetic G…
This paper discusses developments for a multi-limb morphogenetic UAV, MorphoGear, that is capable of both aerial flight and ground locomotion. A hybrid path planning algorithm based on the A* strategy has been developed, enabling seamless…
Nowadays, there are few unmanned aerial vehicles (UAVs) capable of flying, walking and grasping. A drone with all these functionalities can significantly improve its performance in complex tasks such as monitoring and exploring different…
This paper focuses on a novel robotic system MorphoLander representing heterogeneous swarm of drones for exploring rough terrain environments. The morphogenetic leader drone is capable of landing on uneven terrain, traversing it, and…
The continuous monitoring by drone swarms remains a challenging problem due to the lack of power supply and the inability of drones to land on uneven surfaces. Heterogeneous swarms, including ground and aerial vehicles, can support longer…
This paper presents a novel mapping approach for a universal aerial-ground robotic system utilizing a single monocular camera. The proposed system is capable of detecting a diverse range of objects and estimating their positions without…
Legged locomotion enables robotic systems to traverse extremely challenging terrains. In many real-world scenarios, the terrain is not that difficult and these mixed terrain types introduce the need for flexible use of different walking…
Some animals exhibit multi-modal locomotion capability to traverse a wide range of terrains and environments, such as amphibians that can swim and walk or birds that can fly and walk. This capability is extremely beneficial for expanding…
Locomotion in microgravity often relies on sparsely and irregularly arranged anchors, motivating grasp-based mobility with multiple limbs. In this setting, dynamic locomotion is feasible only through deliberate regulation of both anchored…
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…
Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…
In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…
Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to…
Designing ground-aerial robots is challenging due to the increased actuation requirements which can lead to added weight and reduced locomotion efficiency. Morphobots mitigate this by combining actuators into multi-functional groups and…
This thesis presents a unified control framework for agile and fault-tolerant flight of the Multi-Modal Mobility Morphobot (M4) in aerial mode. The M4 robot is capable of transitioning between ground and aerial locomotion. The articulated…
Multimodal UAVs (Unmanned Aerial Vehicles) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding…
Legged robots possess inherent advantages in traversing complex 3D terrains. However, previous work on low-cost quadruped robots with egocentric vision systems has been limited by a narrow front-facing view and exteroceptive noise,…
This work presents an actuation framework for a bioinspired flapping drone called Aerobat. This drone, capable of producing dynamically versatile wing conformations, possesses 14 body joints and is tail-less. Therefore, in our robot, unlike…
Agile-legged robots have proven to be highly effective in navigating and performing tasks in complex and challenging environments, including disaster zones and industrial settings. However, these applications normally require the capability…
Adaptive morphogenetic robots adapt their morphology and control policies to meet changing tasks and environmental conditions. Many such systems leverage soft components, which enable shape morphing but also introduce simulation and control…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…