相关论文: Progress Towards Untethered Autonomous Flight of N…

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…

This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generated by each rotor during flight is one of the main challenges…

Flapping wing flight is a challenging dynamical problem and is also a very fascinating subject to study in the field of biomimetic robotics. A Bat, in particular, has a very articulated armwing mechanism with high degrees-of-freedom and…

This MS thesis outlines my contributions to the closed loop control and system integration of two robotic platforms: 1) Aerobat, a flapping wing robot stabilized by air jets, and 2) Harpy, a bipedal robot equipped with dual thrusters. Both…

The principal aim of this Master's thesis is to propel the optimization of the membrane wing structure of the Northeastern Aerobat through origami techniques and enhancing its capacity for secure hovering within confined spaces.…

Though control algorithms for multirotor Unmanned Air Vehicle (UAV) are well understood, the configuration, parameter estimation, and tuning of flight control algorithms takes quite some time and resources. In previous work, we have shown…

Recently, a practical and publicly accessible satellite standard called the SmallSat has amplified public involvement in orbital research. This allows for flexible and efficient deployments of impactful low-earth-orbit experiments that…

This work presents an actuation framework for a bioinspired flapping drone called Aerobat. This drone, capable of producing dynamically versatile wing conformations, possesses 14 body joints and is tail-less. Therefore, in our robot, unlike…

Flying animals resort to fast, large-degree-of-freedom motion of flapping wings, a key feature that distinguishes them from rotary or fixed-winged robotic fliers with limited motion of aerodynamic surfaces. However, flapping-wing…

Aerial insects can effortlessly navigate dense vegetation, whereas similarly sized aerial robots typically depend on offboard sensors and computation to maintain stable flight. This disparity restricts insect-scale robots to operation…

Abstract. Fixed wing and multirotor UAVs are common in the field of robotics. Solutions for simulation and control of these vehicles are ubiquitous. This is not the case for airships, a simulation of which needs to address unique…

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…

Existing multirotor-based cargo transportation does not maintain a constant cargo attitude due to underactuation; however, fragile payloads may require a consistent posture. The conventional method is also cumbersome when loading cargo, and…

We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…

This work addresses the problem of path tracking control of a suspended load using a tilt-rotor UAV. The main challenge in controlling this kind of system arises from the dynamic behavior imposed by the load, which is usually coupled to the…

Accurate estimation of aerodynamic forces is essential for advancing the control, modeling, and design of flapping-wing aerial robots with dynamic morphing capabilities. In this paper, we investigate two distinct methodologies for force…

This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…

Insect-scale micro-aerial vehicles, especially lightweight, flapping-wing robots, are becoming increasingly important for safe motion sensing in spatially constrained environments such as living spaces. However, yaw control using flapping…

The aerial environment in the operating domain of small-scale natural and artificial flapping wing fliers is highly complex, unsteady and generally turbulent. Considering flapping flight in an unsteady wind environment with a periodically…

Autonomous Unmanned Aerial Manipulators (UAMs) have shown promising potentials to transform passive sensing missions into active 3-dimension interactive missions, but they still suffer from some difficulties impeding their wide…