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This paper is an addition to an article previously published by three of the authors that addresses the control of convertible fixed-wing aircraft with vectorized thrust. The control solution here developed extends the one presented in the…
The present work is concerned with the shape optimization of flapping wings in forward flight. The analysis is performed by combining a gradient-based optimizer with the unsteady vortex lattice method (UVLM). We describe the UVLM…
In this paper, we present a whole-body control framework for Wheeled Inverted Pendulum (WIP) Humanoids. WIP Humanoids are redundant manipulators dynamically balancing themselves on wheels. Characterized by several degrees of freedom, they…
Walking-in-place (WIP) is a locomotion technique that enables users to "walk infinitely" through vast virtual environments using walking-like gestures within a limited physical space. This paper investigates alternative interaction schemes…
The design of a prototype to carry out take-off and flight tests with tethered aircrafts is presented. The system features a ground station equipped with a winch and a linear motion system. The motion of these two components is regulated by…
Autonomous unpowered flight is a challenge for control and guidance systems: all the energy the aircraft might use during flight has to be harvested directly from the atmosphere. We investigate the design of an algorithm that optimizes the…
Reduced-order template models like the Linear Inverted Pendulum (LIP) and Spring-Loaded Inverted Pendulum (SLIP) are widely used tools for controlling high-dimensional humanoid robots. However, connections between templates and whole-body…
This paper presents the inverse kinematic analysis and parameters identification of a novel aerial manipulation system. This system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution…
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…
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…
This paper proposes a novel control law for accurate tracking of agile trajectories using a tailsitter flying wing unmanned aerial vehicle (UAV) that transitions between vertical take-off and landing (VTOL) and forward flight. The global…
In this paper, we study the control design of an automatic crosswind stabilization system for a novel, buoyantly-assisted aerial transportation vehicle. This vehicle has several advantages over other aircraft including the ability to…
Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a…
Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks the assumptions of these models can become limiting. For…
Inverted landing is a routine behavior among a number of animal fliers. However, mastering this feat poses a considerable challenge for robotic fliers, especially to perform dynamic perching with rapid body rotations (or flips) and landing…
Hybrid unmanned aircraft can significantly increase the potential of micro air vehicles, because they combine hovering capability with a wing for fast and efficient forward flight. However, these vehicles are very difficult to control,…
Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surface moving in the inertial frame) involves complex full-order dynamics that is high-dimensional, nonlinear, and time-varying. Towards deriving an analytically tractable…
This study presents an enhanced theoretical formulation for bipedal hierarchical control frameworks under uneven terrain conditions. Specifically, owing to the inherent limitations of the Linear Inverted Pendulum Model (LIPM) in handling…
Using the policy gradient algorithm, we train a single-hidden-layer neural network to balance a physically accurate simulation of a single inverted pendulum. The trained weights and biases can then be transferred to a physical agent, where…
Achieving precise lateral motion modeling and decoupled control in hover remains a significant challenge for tail-sitter Unmanned Aerial Vehicles (UAVs), primarily due to complex aerodynamic couplings and the absence of welldefined lateral…