相关论文: Dynamic modeling of wing-assisted inclined running…
Multimodal locomotion capability is an emerging topic in robotics field, and various novel mobile robots have been developed to enable the maneuvering in both terrestrial and aerial domains. Among these hybrid robots, several…
In this study, our aim is to evaluate the effectiveness of thruster-assisted steep slope walking for the Husky Carbon, a quadrupedal robot equipped with custom-designed actuators and plural electric ducted fans, through simulation prior to…
The main contribution of this MS Thesis is centered around taking steps towards successful multi-modal demonstrations using Northeastern's legged-aerial robot, Husky Carbon. This work discusses the challenges involved in achieving…
Robot multimodal locomotion encompasses the ability to transition between walking and flying, representing a significant challenge in robotics. This work presents an approach that enables automatic smooth transitions between legged and…
Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method using a modified Variable Length Inverted Pendulum (VLIP) by…
Most birds can navigate seamlessly between aerial and terrestrial environments. Whereas the forelimbs evolved into wings primarily for flight, the hindlimbs serve diverse functions such as walking, hopping, and leaping, and jumping take-off…
Biologically-inspired robots are a very interesting and difficult branch of robotics dues to its very rich dynamical and morphological complexities. Among them, flying animals, such as bats, have been among the most difficult to take…
Inspired by Chukars wing-assisted incline running (WAIR), in this work, we employ a high-fidelity model of our Husky Carbon quadrupedal-legged robot to walk over steep slopes of up to 45 degrees. Chukars use the aerodynamic forces generated…
Single locomotion robots often struggle to adapt in highly variable or uncertain environments, especially in emergencies. In this paper, a multi-modal deformable robot is introduced that can both fly and drive. Compatibility issues with…
A deformable land-air robot is introduced with excellent driving and flying capabilities, offering a smooth switching mechanism between the two modes. An elaborate coupled dynamics model is established for the robot, including rotors,…
Some animals exhibit multi-modal locomotion capability to traverse a wide range of terrains and environments, such as amphibians that can swim and walk or birds that can fly and walk. This capability is extremely beneficial for expanding…
Flying animals, such as bats, fly through their fluidic environment as they create air jets and form wake structures downstream of their flight path. Bats, in particular, dynamically morph their highly flexible and dexterous armwing to…
Bats' dynamic morphing wings are known to be extremely high-dimensional, and they employ the combination of inertial dynamics and aerodynamics manipulations to showcase extremely agile maneuvers. Bats heavily rely on their highly flexible…
In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic…
Robots are becoming increasingly essential for traversing complex environments such as disaster areas, extraterrestrial terrains, and marine environments. Yet, their potential is often limited by mobility and adaptability constraints. In…
Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Bats are known for their pronounced, fast wing articulations,…
Achieving both agile maneuverability and high energy efficiency in aerial robots, particularly in dynamic wind environments, remains challenging. Conventional thruster-powered systems offer agility but suffer from high energy consumption,…
Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Bats wings exhibit fast wing articulation and can mobilize as…
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds…
Dynamics modeling in outdoor and unstructured environments is difficult because different elements in the environment interact with the robot in ways that can be hard to predict. Leveraging multiple sensors to perceive maximal information…