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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…

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…

Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of…

This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…

We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…

This paper investigates payload grasping from a moving platform using a hook-equipped aerial manipulator. First, a computationally efficient trajectory optimization based on complementarity constraints is proposed to determine the optimal…

This paper develops and compares two motion planning algorithms for a tethered UAV with and without the possibility of the tether contacting the confined and cluttered environment. Tethered aerial vehicles have been studied due to their…

In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the loss of balance. We propose a template…

Lightweight aerial swarms have potential applications in scenarios where larger drones fail to operate efficiently. The primary foundation for lightweight aerial swarms is efficient relative localization, which enables cooperation and…

Dynamic manipulation, such as robot tossing or throwing objects, has recently gained attention as a novel paradigm to speed up logistic operations. However, the focus has predominantly been on the object's landing location, irrespective of…

This paper investigates stability analysis of flapping flight. Due to time-varying aerodynamic forces, such systems do not display fixed points of equilibrium. The problem is therefore approached via a limit cycle analysis based on Floquet…

Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution…

The flapping-wing aerial vehicle (FWAV) is a new type of flying robot that mimics the flight mode of birds and insects. However, FWAVs have their special characteristics of less load capacity and short endurance time, so that most existing…

This article presents a new control approach and a dynamic model for engineered flapping flight with many interacting degrees of freedom. This paper explores the applications of neurobiologically inspired control systems in the form of…

Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…

Birds employ rapid pitch-up motions for different purposes: perching birds use this motion to decelerate and come to a complete stop while hunting birds, like bald eagles, employ it to catch prey and swiftly fly away. Motivated by these…

3D printing using robots has garnered significant interest in manufacturing and construction in recent years. A robot's versatility paired with the design freedom of 3D printing offers promising opportunities for how parts and structures…

This paper addresses the problem of cooperative transport of a point mass hoisted by two aerial robots. Treating the robots as a leader and a follower, the follower stabilizes the system with respect to the leader using only feedback from…

Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves persistent velocity alignment without velocity sensing. By…

Industrial requirements concerning the increased efficiency and high rate of manufacturing result in the development of manufacturer robots, and a vast group of these types of robots is used for welding. This study presented the design,…