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Object properties perceived through the tactile sense, such as weight, friction, and slip, greatly influence motor control during manipulation tasks. However, the provision of tactile information during robotic training in…
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…
We report on experimental and numerical studies aimed at developing an improved paradigm to model animal flight at moderate Reynolds numbers ($ 20 k - 50k $). A series of experiments were performed to characterize the behaviors of…
Wing flexibility governs the flying performance of flapping wing flyers. Here, we use a self-propelled flapping-wing model mounted on a ``merry go round'' to investigate the effect of wing compliance on the propulsive efficiency of the…
Contact-rich manipulation is crucial for robots to perform tasks requiring precise force control, such as insertion, assembly, and in-hand manipulation. However, most imitation learning (IL) policies remain position-centric and lack…
This work briefly covers our efforts to stabilize the flight dynamics of Northeastern's tailless bat-inspired micro aerial vehicle, Aerobat. Flapping robots are not new. A plethora of examples is mainly dominated by insect-style design…
Flow visualisations are essential to better understand the unsteady aerodynamics of flapping wing flight. The issues inherent to animal experiments, such as poor controllability and unnatural flapping when tethered, can be avoided by using…
Inspired by the natural motion of insects, fish, and other animals, flapping airfoils have gained significant importance due to their applications in fields such as ship propulsion, micro aerial vehicles, and autonomous underwater vehicles.…
Flapping flight and swimming are increasingly studied both due to their intrinsic scientific richness and their applicability to novel robotic systems. Strip theory is often applied to flapping wings, but such modeling is only rigorously…
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…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…
Biological flapping wing fliers operate efficiently and robustly in a wide range of flight conditions and are a great source of inspiration to engineers. The unsteady aerodynamics of flapping-wings are dominated by large-scale vortical…
Electrical manipulation of spin textures inside antiferromagnets represents a new opportunity for developing spintronics with superior speed and high device density. Injecting spin currents into antiferromagnets and realizing efficient…
In this work, we present an experimental setup and guide to enable the perching of large flapping-wing robots. The combination of forward flight, limited payload, and flight oscillations imposes challenging conditions for localized…
Biologically-inspired robots are a very interesting and difficult branch of robotics dues to its very rich dynamical and morphological complexities. Among them, flying animals, such as bats, have been among the most difficult to take…
We study the aerodynamics of a flapping flexible wing with a two-vein pattern that mimics the elastic response of insect wings in a simplified manner. The experiments reveal a non-monotonic variation of the thrust force produced by the…
The 3D flight control of a flapping wing robot is a very challenging problem. The robot stabilizes and controls its pose through the aerodynamic forces acting on the wing membrane which has complex dynamics and it is difficult to develop a…
In this study, we present two and three-dimensional numerical investigation to understand the combined effects of the non-dimensional heave amplitude varying from 0 to 1 and the pitch amplitude ranging from 0 to 30 on the propulsive…
Bird-sized flapping-wing robots offer significant potential for agile flight in complex environments, but achieving agile and robust trajectory tracking remains a challenge due to the complex aerodynamics and highly nonlinear dynamics…
Insects use flight muscles attached at the base of the wings to produce impressive wing flapping frequencies. The maximum power output of these flight muscles is insufficient to maintain such wing oscillations unless there is good elastic…