Related papers: Insect-Scale Tailless Robot with Flapping Wings: A…
The concept of aerial-aquatic robots has emerged as an innovative solution that can operate both in the air and underwater. Previous research on the design of such robots has been mainly focused on mature technologies such as fixed-wing and…
Airborne insects generate a leading edge vortex when they flap their wings. This coherent vortex is a low pressure region that enhances the lift of flapping wings compared to fixed wings. Insect wings are thin membranes strengthened by a…
Legged locomotion shows promise for running in complex, unstructured environments. Designing such legged robots requires considering heterogeneous, multi-domain constraints and variables, from mechanical hardware and geometry choices to…
Ocean sampling for highly temporal phenomena, such as harmful algal blooms, necessitates a vehicle capable of fast aerial travel interspersed with an aquatic means of acquiring in-situ measurements. Vehicle platforms with this capability…
There is growing interest in fully electric vehicles in the automotive industry as it becomes increasingly more difficult to meet new and upcoming emission regulations based on internal combustion engines. Fully electric vehicles do not…
Biological flapping wing fliers operate efficiently and robustly in a wide range of flight conditions and are a great source of inspiration to engineers. The unsteady aerodynamics of flapping-wings are dominated by large-scale vortical…
We present a holistic grasping controller, combining free-space position control and in-contact force-control for reliable grasping given uncertain object pose estimates. Employing tactile fingertip sensors, undesired object displacement…
High speed video observations of free flying male Aedes aegypti mosquitoes, the dengue and yellow fever vector, along with custom measurement methods, enable measurement of wingbeat frequency, body position and body orientation of…
Promoting exploratory movements through contingent feedback can positively influence motor development in infancy. Our ongoing work gears toward the development of a robot-assisted contingency learning environment through the use of small…
Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely…
This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV). Based on simplified aerodynamics and first-principles, a…
Pivoting gait is efficient for manipulating a big and heavy object with relatively small manipulating force, in which a robot iteratively tilts the object, rotates it around the vertex, and then puts it down to the floor. However, pivoting…
This paper proposes a novel method for the prevention of the unbounded oscillation of an aircraft wings under the flexural torsion flutter. The paper introducing the novel multiagent method for control of an aircraft wing, assuming that the…
The smallest flying insects often have bristled wings resembling feathers or combs. We combined experiments and three-dimensional numerical simulations to investigate the trade-off between wing weight and drag generation. In experiments of…
This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…
How should zoomorphic, or bio-inspired, robots indicate to humans that interactions will be safe and fun? Here, a survey is used to measure how human willingness to interact with a simulated butterfly robot is affected by different flight…
In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…
Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and rotor dynamics. While model-based controllers can achieve high…
While bio-inspired and biomimetic systems draw inspiration from living materials, biohybrid systems incorporate them with synthetic devices, allowing the exploitation of both organic and artificial advantages inside a single entity. In the…
This paper presents the foundation of a modular robotic system comprised of several novel modules in the shape of a tetrahedron. Four single-propeller submodules are assembled to create the Tetracopter, a tetrahedron-shaped quad-rotorcraft…