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The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…

Spinning flexible objects, exemplified by traditional Chinese handkerchief performances, demands periodic steady-state motions under nonlinear dynamics with frictional contacts and boundary constraints. To address these challenges, we first…

This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…

This paper introduces novel air actuated spherical robot called "RollRoller". The RollRoller robot consists of two essential parts: tubes covered with a shell as a frame and mechanical controlling parts to correspond movements. The…

Unmanned aerospace vehicles usually carry sensors (i.e., electro-optical and/or infrared imaging cameras) as their primary payload. These sensors are used for image processing, target tracking, surveillance, mapping, and providing…

This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by…

A slightly tilted permanent magnet rotating at high speed can induce a magnetic field capable of trapping another permanent magnet in a gravity independent levitated bound state, bypassing Earnshaw's theorem. During levitation, the floater…

The water bottle flipping challenge consists of spinning a bottle, partially filled with water, and making it land upright. It is quite a striking phenomenon, since at first sight it appears rather improbable that a tall rotating bottle…

The present study report direct numerical simulation (DNS) of a circular jet and the effect of a large scale perturbation at the jet inlet. The perturbation is used to control the jet for increased spreading. Dual-mode perturbation is…

The albatross optimized flight maneuver -- known as dynamic soaring -- is nothing but a wonder of biology, physics, and engineering. By utilizing dynamic soaring, the bird can travel in the desired flight direction almost for free by…

It has been asserted previously by the author that optimal control theory can be a valuable framework for theoretical studies about the shape that a wind instrument should have in order to satisfy some optimization criterion, inside a…

Biological studies show that hummingbirds can perform extreme aerobatic maneuvers during fast escape. Given a sudden looming visual stimulus at hover, a hummingbird initiates a fast backward translation coupled with a 180-degree yaw turn,…

Avian-informed drones feature morphing wing and tail surfaces, enhancing agility and adaptability in flight. Despite their large potential, realising their full capabilities remains challenging due to the lack of generalized control…

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…

Spherical robots typically require at least two actuators to achieve controlled 2D planar motion. Here we present Rollbot, the first spherical robot capable of controllably maneuvering on a 2D plane with a single actuator, challenging this…

A novel quadcopter capable of changing shape mid-flight is presented, allowing for operation in four configurations with the capability of sustained hover in three. This is accomplished without requiring actuators beyond the four motors…

We investigate the hovering dynamics of rigid bodies with up-down asymmetry placed in oscillating background flows. Recent experiments on inanimate pyramid-shaped objects in oscillating flows with zero mean component demonstrate that the…

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…

Natural fliers like bats exploit the complex fluid-structure interaction between their flexible membrane wings and the air with great ease. Yet, replicating and scaling the balance between the structural and fluid-dynamical parameters of…

This paper discusses the wing inertial effects on stability of pitch motion of hovering insects. The paper also presents a dynamic model appropriate for using averaging techniques and discusses the pitch stability results derived from the…