Related papers: Insect-Scale Tailless Robot with Flapping Wings: A…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Bats are known for their pronounced, fast wing articulations,…
This paper discusses the wing inertial effects on stability of pitch motion of hovering insects. The paper also presents a dynamic model appropriate for using averaging techniques and discusses the pitch stability results derived from the…
Perception systems for ornithopters face severe challenges. The harsh vibrations and abrupt movements caused during flapping are prone to produce motion blur and strong lighting condition changes. Their strict restrictions in weight, size,…
This letter presents a novel and retractable ring-shaped quadrotor called Ring-Rotor that can adjust the vehicle's length and width simultaneously. Unlike other morphing quadrotors with high platform complexity and poor controllability,…
Visual inspection of confined spaces such as aircraft wings is ergonomically challenging for human mechanics. This work presents a novel crane robot that can travel the entire span of the aircraft wing, enabling mechanics to perform…
An approach to control tethered wings for airborne wind energy is proposed. A fixed length of the lines is considered, and the aim of the control system is to obtain figure-eight crosswind trajectories. The proposed technique is based on…
Fixed-wing unmanned aerial vehicles (UAVs) offer endurance and efficiency but lack low-speed agility due to highly coupled dynamics. We present an end-to-end sensing-to-control pipeline that combines bio-inspired hardware, physics-informed…
Spatial single-loop mechanisms such as Bennett linkages offer a unique combination of one-degree-of-freedom actuation and nontrivial spatial trajectories, making them attractive for lightweight bio-inspired robotic design. However, although…
One of the motivations for exploring flapping-wing aerial robotic systems is to seek energy reduction, by maintaining manoeuvrability, compared to conventional unmanned aerial systems. A Flapping Wing Flying Robot (FWFR) can glide in…
Aerial robotic arms aim to enable inspection and environment interaction in otherwise hard-to-reach areas from the air. However, many aerial manipulators feature bulky or heavy robot manipulators mounted to large, high-payload aerial…
This paper presents a novel actuator system combining a twisted string actuator (TSA) with a winch mechanism. Relative to traditional hydraulic and pneumatic systems in robotics, TSAs are compact and lightweight but face limitations in…
Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of developing electromechanical actuators with both the high…
Flying insects are thought to achieve energy-efficient flapping flight by storing and releasing elastic energy in their muscles, tendons, and thorax. However, flight systems consisting elastic elements coupled to nonlinear, unsteady…
Aerial manipulators extend the reach and manipulation capabilities of uncrewed multirotor aerial vehicles for inspection, agriculture, sampling, and delivery. Continuum arm aerial manipulation systems offer lightweight, dexterous, and…
This paper presents a dynamic model and a control system for a flapping-wing unmanned aerial vehicle. Inspired by flight characteristics captured from live Monarch butterflies, a new dynamic model is presented to account the effects of…
The large active wing deformation is a significant way to generate high aerodynamic forces required in bat flapping flight. Besides the twisting, the elementary morphing models of a bat wing are proposed, such as wing-bending in the…
Tip-extending soft robots that "grow" via pneumatic eversion of their body material have demonstrated applications in exploration of cluttered environments. During growth, the motion and force of the robot tip can be controlled in three…
This work presents FlyHaptics, an aerial haptic interface tracked via a Vicon optical motion capture system and built around six five-bar linkage assemblies enclosed in a lightweight protective cage. We predefined five static tactile…
In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic…