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Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…

In this work, we present an experimental setup and guide to enable the perching of large flapping-wing robots. The combination of forward flight, limited payload, and flight oscillations imposes challenging conditions for localized…

Controlling of a flapping flight is one of the recent research topics related to the field of Flapping Wing Micro Air Vehicle (FW MAV). In this work, an adaptive control system for a four-wing FW MAV is proposed, inspired by its advanced…

Dynamic induction control is a wind farm flow control strategy that utilises wind turbine thrust variations to accelerate breakdown of the aerodynamic wake and improve downstream turbine performance. However, when floating wind turbines are…

For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvent with standard locomotion gaits. In these cases, the robot must perform a leap to either jump onto the obstacle or fly over it. However,…

Wing flexibility governs the flying performance of flapping wing flyers. Here, we use a self-propelled flapping-wing model mounted on a ``merry go round'' to investigate the effect of wing compliance on the propulsive efficiency of the…

While engineers put lots of effort, resources, and time in building insect scale micro aerial vehicles (MAVs) that fly like insects, insects themselves are the real masters of flight. What if we would use living insect as platform for MAV…

Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…

This paper investigates stability analysis of flapping flight. Due to time-varying aerodynamic forces, such systems do not display fixed points of equilibrium. The problem is therefore approached via a limit cycle analysis based on Floquet…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…

This research proposes a novel morphing structure with shells inspired by the movement of pillbugs. Instead of the pillbug body, a loopcoupled mechanism based on slider-crank mechanisms is utilized to achieve the rolling up and spreading…

Active control of the shape of soft robots is challenging. Despite having an infinite number of passive degrees of freedom (DOFs), soft robots typically only have a few actively controllable DOFs, limited by the number of degrees of…

Designing a floating offshore wind turbine (FOWT) controller requires solving engineering challenges not found for fixed-bottom turbines. This paper applies several methods from the growing body of FOWT control literature to the 10-MW…

Using a flapping robot in a wind tunnel, we show that flapping faster amplifies existing longitudinal static stability (focusing on the pitch stiffness) and can even make an unstable flier stable. We show that stability for a flapper is not…

Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even…

This paper presents a -- Learning from Demonstration -- method to perform robot movement trajectories that can be defined as you go. This way unstructured tasks can be performed, without the need to know exactly all the tasks and start and…

We discuss the problem of designing and implementing controllers for insect-scale flapping-wing micro air vehicles (FWMAVs), from a unifying perspective and employing two different experimental platforms; namely, a Harvard RoboBee-like…

In this paper, we present the design, simulation and experimental validation of a control architecture for a flying hand, i.e., a system made of an unmanned aerial vehicle, a robotic manipulator and a gripper, which is grasping an object…

We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…

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…