Related papers: Bumper Drone: Elastic Morphology Design for Aerial…
How to endow aerial robots with the ability to operate in close proximity remains an open problem. The core challenges lie in the propulsion system's dual-task requirement: generating manipulation forces while simultaneously counteracting…
The endurance and energy efficiency of drones remain critical challenges in their design and operation. To extend mission duration, numerous studies explored perching mechanisms that enable drones to conserve energy by temporarily…
Current aerial robots demonstrate limited interaction capabilities in unstructured environments when compared with their biological counterparts. Some examples include their inability to tolerate collisions and to successfully land or perch…
This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a…
In this work, we evaluate the use of aerial drone hover constraints in a multisensor fusion of ground robot and drone data to improve the localization performance of a drone. In particular, we build upon our prior work on cooperative…
We propose a novel concept of augmented reality (AR) human-drone interaction driven by RL-based swarm behavior to achieve intuitive and immersive control of a swarm formation of unmanned aerial vehicles. The DroneARchery system developed by…
Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial…
In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…
This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection. The fully actuated tilt-rotor aerial system is equipped…
The long-standing, dominant approach to robotic obstacle negotiation relies on mapping environmental geometry to avoid obstacles. However, this approach does not allow for traversal of cluttered obstacles, hindering applications such as…
In this paper, we present a framework that unites obstacle avoidance and deliberate physical interaction for robotic manipulators. As humans and robots begin to coexist in work and household environments, pure collision avoidance is…
Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…
Aerial robots show significant potential for forest canopy research and environmental monitoring by providing data collection capabilities at high spatial and temporal resolutions. However, limited flight endurance hinders their…
This paper introduces Borinot, an open-source aerial robotic platform designed to conduct research on hybrid agile locomotion and manipulation using flight and contacts. This platform features an agile and powerful hexarotor that can be…
Small animals and robots must often rapidly traverse large bump-like obstacles when moving through complex 3-D terrains, during which, in addition to leg-ground contact, their body inevitably comes into physical contact with the obstacles.…
Grip, walk, crawl, and jump. Soft robots are integrated functional structures composed of compliant mechanisms, whose activity spans various industrial applications such as surgery, healthcare, surveillance, and even planetary exploration.…
In the area of multi-drone systems, navigating through dynamic environments from start to goal while providing collision-free trajectory and efficient path planning is a significant challenge. To solve this problem, we propose a novel…
Evolution and learning have historically been interrelated topics, and their interplay is attracting increased interest lately. The emerging new factor in this trend is morphological evolution, the evolution of physical forms within…
Navigation and motion control of a robot to a destination are tasks that have historically been performed with the assumption that contact with the environment is harmful. This makes sense for rigid-bodied robots where obstacle collisions…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…