Related papers: Controlled Flight of an Insect-Scale Flapping-Wing…
The ability to enter in contact with and manipulate physical objects with a flying robot enables many novel applications, such as contact inspection, painting, drilling, and sample collection. Generally, these aerial robots need more…
Flight is a complicated task at small scales in part due to the ubiquitous unsteady air which contains it. Flying organisms deal with these difficulties using active and passive control mechanisms to steer their body motion. Body attitudes…
In this paper, we present the design, simulation and experimental validation of a control architecture for a flying hand, i.e., a system made of an unmanned aerial vehicle, a robotic manipulator and a gripper, which is grasping an object…
Teams of flying robots can be used for inspection, delivery, and construction tasks, in which they might be required to fly very close to each other. In such close-proximity cases, nonlinear aerodynamic effects can cause catastrophic…
Precise markings for drilling and assembly are crucial, laborious construction tasks. Aerial robots with suitable end-effectors are capable of markings at the millimeter scale. However, so far, they have only been demonstrated under…
Insect vision supports complex behaviors including associative learning, navigation, and object detection, and has long motivated computational models for understanding biological visual processing. However, many contemporary models…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…
Monitoring moisture level of land in a large-scale plantation is tedious. The main objective of this project is to use a robotic kit in collaboration with the on-field moisture sensor circuits, thereby creating an efficient and economical…
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
Animals locomote robustly and agile, albeit significant sensorimotor delays of their nervous system. The sensorimotor control of legged robots is implemented with much higher frequencies-often in the kilohertz range-and sensor and actuator…
One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment. This…
The paper describes an electronic multiprocessor system that assures functionality of a miniature UAV capable of 3D flying. The apparatus consists of six independently controlled brushless DC motors, each having a propeller attached to it.…
We introduce Bee$^+$, a 95-mg four-winged microrobot with improved controllability and open-loop-response characteristics with respect to those exhibited by state-of-the-art two-winged microrobots with the same size and similar weight…
Hummingbirds and insects achieve outstanding flight performance by adapting their flapping motion to the flight requirements. Their wing kinematics can change from smooth flapping to highly dynamic waveforms, generating unsteady aerodynamic…
We present the AgriCruiser, an open-source over-the-row agricultural robot developed for low-cost deployment and rapid adaptation across diverse crops and row layouts. The chassis provides an adjustable track width of 1.42 m to 1.57 m,…
We describe a system for visually guided autonomous navigation of under-canopy farm robots. Low-cost under-canopy robots can drive between crop rows under the plant canopy and accomplish tasks that are infeasible for over-the-canopy drones…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
Flapping insects are remarkably agile fliers, adapted to a highly turbulent environment. We present a series of high resolution numerical simulations of a bumblebee interacting with turbulent inflow. We consider both tethered and free…
The natural wind environment that volant insects encounter is unsteady and highly complex, posing significant flight control and stability challenges. Unsteady airflows can range from structured chains of discrete vortices shed in the wake…