相关论文: Experimental method for perching flapping-wing aer…
Small flying robots can perform landing maneuvers using bio-inspired optical flow by maintaining a constant divergence. However, optical flow is typically estimated from frame sequences recorded by standard miniature cameras. This requires…
This paper proposes a method to evaluate the capability of aggressive legged robot landing under significant touchdown linear and angular velocities upon impact. Our approach builds upon the Planar Inverted Pendulum with Flywheel (PIPF)…
Innovative ideas are continuously emerging to produce better life conditions where essential human needs are supposed to be fulfilled with perfect scenarios leading us to propose modern strategies drawing the future of smart cities. In this…
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…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes…
Information from the sky is important for rescue activity in large-scale disaster or dangerous areas. Observation system using a balloon or an airplane has been studied as an information gathering system from the sky. A balloon observation…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
The extraordinary aerial agility of hummingbirds and insects continues to inspire the design of flapping-wing drones. To replicate and analyze such flight, computational fluid dynamics (CFD) simulations that couple flow solvers with rigid…
In this paper, we present a full design of a flying robot to investigate the state of power grid components and to perform the appropriate maintenance procedures according to each fail or defect that could be recognized. To realize this…
In comparison with existing approaches, which struggle with scalability, communication dependency, and robustness against dynamic failures, cooperative aerial transportation via robot swarms holds transformative potential for logistics and…
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position…
Whenever a flapping robot moves along a trajectory it experiences some vibration about its mean path. Even for a hovering case, a flier experiences such vibration due to the oscillatory nature of the aerodynamic forces. In this paper we…
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…
Assistive free-flying robots are a promising platform for supporting and working alongside astronauts in carrying out tasks that require interaction with the environment. However, current free-flying robot platforms are limited by existing…
A wide range of human-robot collaborative applications in diverse domains such as manufacturing, health care, the entertainment industry, and social interactions, require an autonomous robot to follow its human companion. Different working…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
In this paper, we present the design, simulation and experimental validation of a control architecture for a flying hand, i.e., a system made of an unmanned aerial vehicle, a robotic manipulator and a gripper, which is grasping an object…
How should zoomorphic, or bio-inspired, robots indicate to humans that interactions will be safe and fun? Here, a survey is used to measure how human willingness to interact with a simulated butterfly robot is affected by different flight…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…