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Micro aerial vehicles are becoming increasingly important in search and rescue operations due to their agility, speed, and ability to access confined spaces or hazardous areas. However, designing lightweight aerial systems presents…
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
Robotic arms are key components in fruit-harvesting robots. In agricultural settings, conventional serial or parallel robotic arms often fall short in meeting the demands for a large workspace, rapid movement, enhanced capability of…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
With inspiration from arthropods' exoskeletons, we designed a simple, easily manufactured, semi-rigid structure with flexible joints that can passively damp impact energy. This exoskeleton fuses the protective shell to the main robot…
This paper presents a novel morphing quadrotor, named MorphoCopter, covering its design, modeling, control, and experimental tests. It features a unique single rotary joint that enables rapid transformation into an ultra-narrow profile.…
A customizable multi-rotor UAVs simulation platform based on ROS, Gazebo and PX4 is presented. The platform, which is called XTDrone, integrates dynamic models, sensor models, control algorithm, state estimation algorithm, and 3D scenes.…
The human arm exhibits remarkable capabilities, including both explosive power and precision, which demonstrate dexterity, compliance, and robustness in unstructured environments. Developing robotic systems that emulate human-like…
In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree branches, power lines). In this paper, we propose a compact,…
This paper develops and experimentally evaluates a navigation function for quadrotor formation flight that is resilient to abrupt quadrotor failures and other obstacles. The navigation function is based on modeling healthy quadrotors as…
Interactional aerodynamics of a quadcopter in hover is numerically investigated in this study. The main objective is to understand major flow structures associated with unsteady airloads on multirotor aircraft. The overset mesh approach is…
Learning to control robots without requiring engineered models has been a long-term goal, promising diverse and novel applications. Yet, reinforcement learning has only achieved limited impact on real-time robot control due to its high…
Aerial robots are a well-established solution for exploration, monitoring, and inspection, thanks to their superior maneuverability and agility. However, in many environments, they risk crashing and sustaining damage after collisions.…
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…
Aerial robots interacting with objects must perform precise, contact-rich maneuvers under uncertainty. In this paper, we study the problem of aerial ball juggling using a quadrotor equipped with a racket, a task that demands accurate…
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…
The widespread adoption of quadrotors for diverse applications, from agriculture to public safety, necessitates an understanding of the aerodynamic disturbances they create. This paper introduces a computationally lightweight model for…
Typical drones with multi rotors are generally less maneuverable due to unidirectional thrust, which may be unfavorable to agile flight in very narrow and confined spaces. This paper suggests a new bio-inspired drone that is empowered with…
Collision-resilient quadrotors have gained significant attention given their potential for operating in cluttered environments and leveraging impacts to perform agile maneuvers. However, existing designs are typically single-mode: either…
This paper presents Duawlfin, a drone with unified actuation for wheeled locomotion and flight operation that achieves efficient, bidirectional ground mobility. Unlike existing hybrid designs, Duawlfin eliminates the need for additional…