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The intricate and multi-stage task in dynamic public spaces like luggage trolley collection in airports presents both a promising opportunity and an ongoing challenge for automated service robots. Previous research has primarily focused on…
In an era of rapid urbanization and e-commerce growth, efficient parcel delivery methods are crucial. This paper presents a detailed study of the aerodynamics and sensing analysis of drones for parcel delivery. Utilizing Computational Fluid…
Pneumatic actuation benefits soft robotics by facilitating compliance, enabling large volume change, and concentrating actuator weight away from the end-effector. However, portability is compromised when pneumatic actuators are tethered to…
Micro aerial vehicles are becoming increasingly important in search and rescue operations due to their agility, speed, and ability to access confined spaces or hazardous areas. However, designing lightweight aerial systems presents…
Multirotor aerial robots excel at maneuvering in three-dimensional space, and recent advances enable nimble navigation in cluttered and confined environments, especially for small airframes. By contrast, platforms built for high-altitude…
Traditional aerial vehicles are constrained to perform specific tasks due to their adhoc designs. Based on modularity, we propose a versatile robot, H-ModQuad, that can adapt to different tasks by increasing its load capacity and actuated…
Cooperative transport, the simultaneous movement of an object by multiple agents, has been widely observed in biological systems such as ant colonies, which improve efficiency and adaptability in dynamic environments. Inspired by these…
This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid force-motion controller has been developed for this purpose.…
Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although advancements in robotic autonomy, human operation remains essential in complex aerial…
This paper presents a novel VTOL UAV that owns a link connecting four rotors and a fuselage by a passive joint, allowing the control of the rotor's tilting angle by adjusting the rotors' thrust. This unique structure contributes to…
This work considers the problem of intercepting rogue drones targeting sensitive critical infrastructure facilities. While current interception technologies focus mainly on the jamming/spoofing tasks, the challenges of effectively locating…
Unmanned aerial vehicles (UAVs), commonly known as drones, are being increasingly deployed throughout the globe as a means to streamline monitoring, inspection, mapping, and logistic routines. When dispatched on autonomous missions, drones…
Spherical rolling robots have garnered significant attention in the field of mobile robotics for applications such as inspection and space exploration. Designing underactuated rolling robots poses challenges in achieving multi-directional…
Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…
Long-horizon whole-body humanoid teleoperation remains challenging due to accumulated global pose drift, particularly on full-sized humanoids. Although recent learning-based tracking methods enable agile and coordinated motions, they…
Flying vertebrates exhibit sophisticated wingbeat kinematics. Their specialized forelimbs allow for the wing morphing motion to couple with the flapping motion during their level flight, Previous flyable bionic platforms have successfully…
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…
Due to dynamic variations such as changing payload, aerodynamic disturbances, and varying platforms, a robust solution for quadrotor trajectory tracking remains challenging. To address these challenges, we present a deep reinforcement…
This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation…
With the increasing demand for heterogeneous Unmanned Aerial Vehicle (UAV) swarms to perform complex tasks in urban environments, system design now faces major challenges, including efficient semantic understanding, flexible task planning,…