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Bird-sized flapping-wing robots offer significant potential for agile flight in complex environments, but achieving agile and robust trajectory tracking remains a challenge due to the complex aerodynamics and highly nonlinear dynamics…
In flapping flight, motion of the wings through the air generates the majority of the force and torque that controls the body motion. On the other hand, it is not clear how much effect the body motion imposes on the wings. We investigated…
This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…
An aerial vehicle powered by flapping feathered wings was designed, developed and fabricated. Different from legacy flapping-wing aerial vehicles with membrane wings, the new design uses authentic bird feathers to fabricate wings. In field…
Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…
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,…
Bats' dynamic morphing wings are known to be extremely high-dimensional, and they employ the combination of inertial dynamics and aerodynamics manipulations to showcase extremely agile maneuvers. Bats heavily rely on their highly flexible…
Aerobat is a bat-inspired flapping-wing robot with a wing gait generate by the computational structure, a planar linkage of carbon fiber links driven by a single motor. This design minimizes weight but couples both wings to a shared input…
This paper invented a new rolling control mechanism of two section articulated-wing ornithopter, which is analogues to aileron control in plane, however, similar control mechanism leads to opposite result, indicating the ornithopter…
Multilinked aerial robot is one of the state-of-the-art works in aerial robotics, which demonstrates the deformability benefiting both maneuvering and manipulation. However, the performance in outdoor physical world has not yet been…
Flapping wings are a bio-inspired method to produce lift and thrust in aerial robots, leading to quiet and efficient motion. The advantages of this technology are safety and maneuverability, and physical interaction with the environment,…
Achieving both agile maneuverability and high energy efficiency in aerial robots, particularly in dynamic wind environments, remains challenging. Conventional thruster-powered systems offer agility but suffer from high energy consumption,…
This research implements a design for the control of a rotatable stabiliser which, it is proposed, might augment, or fully replace, the conventional control mechanisms for pitch and yaw in certain types of aircraft. The anticipated…
Lighter-than-air vehicles or blimps, are an evolving platform in robotics with several beneficial properties such as energy efficiency, collision resistance, and ability to work in close proximity to human users. While existing blimp…
Tiny flying robots hold great potential for search-and-rescue, safety inspections, and environmental monitoring, but their small size limits conventional sensing-especially with poor-lighting, smoke, dust or reflective obstacles. Inspired…
Unmanned micro aerial vehicle research is an active area of development due to the vast potential applications. Prior work towards realizing flapping flight has achieved some success however they have relied heavily upon the use of rotary…
This article presents a new control approach and a dynamic model for engineered flapping flight with many interacting degrees of freedom. This paper explores the applications of neurobiologically inspired control systems in the form of…
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…
This MS thesis outlines my contributions to the closed loop control and system integration of two robotic platforms: 1) Aerobat, a flapping wing robot stabilized by air jets, and 2) Harpy, a bipedal robot equipped with dual thrusters. Both…
Drawing inspiration from the adaptive wing shape of birds in flight, this study introduces a bio-inspired concept for shape adaptation utilizing bend-twist coupling (BTC) in composite laminates. The primary aim of the design optimization is…