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Force Sensing and Force Control are essential to many industrial applications. Typically, a 6-axis Force/Torque (F/T) sensor is mounted between the robot's wrist and the end-effector in order to measure the forces and torques exerted by the…
Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aerial robots as a way to save energy, and deformable structure…
In the present work, we investigate dynamic interaction and response of flexible bio-inspired morphing wing structure to a low Reynolds aerodynamic load. The aspects of inspiration are as follows. First, the segmentation of the wing into…
Using high-fidelity simulations, we study the self-induced flapping dynamics of an inverted elastic foil when it is placed in tandem with a stationary circular cylinder. The effect of wake interference on the inverted foil's coupled…
Wing flexibility plays an essential role in the aerodynamic performance of insects due to the considerable deformation of their wings during flight under the impact of inertial and aerodynamic forces. These forces come from the complex wing…
Tiltrotors are an aircraft concept with the ability to rotate their rotors freely, achieving vertical take-off and fast forward flight. The combination of helicopter and fixed-wing flight into one aircraft provides versatility in mission…
A flexible foil undergoing pitching oscillations is studied experimentally in a wind tunnel with different imposed free stream velocities. The chord-based Reynolds number is in the range 1600--4000, such that the dynamics of the system is…
Positioning with one inertial measurement unit and one ranging sensor is commonly thought to be feasible only when trajectories are in certain patterns ensuring observability. For this reason, to pursue observable patterns, it is required…
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…
As platform size is reduced, the flight of aerial robots becomes increasingly energetically expensive. Limitations on payload and endurance of these small robots have prompted researchers to explore the use of bimodal aerial-surface…
Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance…
This study aims to investigate the effects of electroactive morphing on a 70cm chord A320 wing by means of near trailing edge slight deformation and vibration. Wing morphing is performed by Macro Fiber Composites (MFC) mini-piezoelectric…
An analytical tool is presented to compute the parametric regions of flutter instabilities of a two-dimensional flexible foil elastically mounted. It is based on a new analytical formulation of the unsteady fluid-estructure interaction…
This work presents FlyHaptics, an aerial haptic interface tracked via a Vicon optical motion capture system and built around six five-bar linkage assemblies enclosed in a lightweight protective cage. We predefined five static tactile…
In this work we present more comprehensive evaluations on our airborne Gimbal mounted inertial measurement unit (IMU) signal simulator which also considers flight dynamic model (FDM). A flexible IMU signal simulator is an enabling tool in…
While compliant grippers have become increasingly commonplace in robot manipulation, finding the right stiffness and geometry for grasping the widest variety of objects remains a key challenge. Adjusting both stiffness and gripper geometry…
Sensing contact pressure applied by a gripper can benefit autonomous and teleoperated robotic manipulation, but adding tactile sensors to a gripper's surface can be difficult or impractical. If a gripper visibly deforms, contact pressure…
The design of a prototype to carry out take-off and flight tests with tethered aircrafts is presented. The system features a ground station equipped with a winch and a linear motion system. The motion of these two components is regulated by…
Tiny flying robots hold great potential for search-and-rescue, safety inspections, and environmental monitoring, but their small size limits conventional sensing-especially with poor-lighting, smoke, dust or reflective obstacles. Inspired…
We developed a new grip force measurement concept that allows for embedding tactile stimulation mechanisms in a gripper. This concept is based on a single force sensor to measure the force applied on each side of the gripper, and it…