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In the evolving era of Unmanned Aerial Vehicles (UAVs), the emphasis has moved from mere data collection to strategically obtaining timely and relevant data within the Internet of Drones (IoDs) ecosystem. However, the unpredictable…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
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…
Unmanned aerial vehicles (UAVs, or drones) are likely to significantly increase the amount of air traffic. If the skies are full of UAVs, they need to interact with each other, for instance by yielding or other evasive maneuvers. The…
The paper takes the first step towards the de- velopment of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from…
Flapping wing flight is a challenging dynamical problem and is also a very fascinating subject to study in the field of biomimetic robotics. A Bat, in particular, has a very articulated armwing mechanism with high degrees-of-freedom and…
Large-scale infrastructures are prone to deterioration due to age, environmental influences, and heavy usage. Ensuring their safety through regular inspections and maintenance is crucial to prevent incidents that can significantly affect…
Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the…
Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
This paper presents the design of a 6-DOF all-terrain micro aerial vehicle and two control strategies for multimodal flight, which are experimentally validated. The micro aerial vehicle is propelled by four motors and controlled by a single…
With the growing demand for efficient logistics and warehouse management, unmanned aerial vehicles (UAVs) are emerging as a valuable complement to automated guided vehicles (AGVs). UAVs enhance efficiency by navigating dense environments…
This paper presents the design, modeling, and experimental validation of CapsuleBot, a novel hybrid aerial-ground bi-copter robot designed for long-endurance and low-noise operations. CapsuleBot combines the maneuverability of a bi-copter…
Bilateral teleoperation offers an intriguing solution towards shared autonomy with aerial vehicles in contact-based inspection and manipulation tasks. Omnidirectional aerial robots allow for full pose operations, making them particularly…
Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended…
This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
We present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios…