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Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…
Drones, like most airborne aerial vehicles, face inherent disadvantages in achieving agile flight due to their limited thrust capabilities. These physical constraints cannot be fully addressed through advancements in control algorithms…
Robots with multi-modal locomotion are an active research field due to their versatility in diverse environments. In this context, additional actuation can provide humanoid robots with aerial capabilities. Flying humanoid robots face…
This research introduces a novel hydrofoil-based propulsion framework for unmanned aquatic robots, inspired by the undulating locomotion observed in select aquatic species. The proposed system incorporates a camber-modulating mechanism to…
Insects control unsteady aerodynamic forces on flapping wings to navigate complex environments. While understanding these forces is vital for biology, physics, and engineering, existing evaluation methods face trade-offs: high-fidelity…
Terrestrial animals and robots are susceptible to flipping-over during rapid locomotion in complex terrains. However, small robots are less capable of self-righting from an upside-down orientation compared to small animals like insects.…
Despite significant analysis of bird flight, generative physics models for flight dynamics do not currently exist. Yet the underlying mechanisms responsible for various flight manoeuvres are important for understanding how agile flight can…
Flying insects are capable of vision-based navigation in cluttered environments, reliably avoiding obstacles through fast and agile maneuvers, while being very efficient in the processing of visual stimuli. Meanwhile, autonomous micro air…
Compared with fixed-wing flight, flapping flight can generate a higher lift and is also more maneuverable, largely resulting from the benefits of wing rotation. By analyzing the real wing kinematics of fruit flies, we found that the wing…
Most biological flyers undergo orderly deformation in flight, and the deformations of wings lead to complex fluid-structure interactions. In this paper, an aerodynamic-structural coupling method of flapping wing is developed based on ANSYS…
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.…
Spatial single-loop mechanisms such as Bennett linkages offer a unique combination of one-degree-of-freedom actuation and nontrivial spatial trajectories, making them attractive for lightweight bio-inspired robotic design. However, although…
Morphology of a robot design is important to its ability to achieve a stated goal and therefore applying machine learning approaches that incorporate morphology in the design space can provide scope for significant advantage. Our study is…
Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…
The bang-bang optimal control method was proposed for glow discharge plasma actuators, taking account of practical issues, such as limited actuation states with instantaneously varied aerodynamic control performance. Hence, the main…
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…
The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…
Designing ground-aerial robots is challenging due to the increased actuation requirements which can lead to added weight and reduced locomotion efficiency. Morphobots mitigate this by combining actuators into multi-functional groups and…
Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…
As aerial robots gain traction in industrial applications, there is growing interest in enhancing their physical interaction capabilities. Pushing tasks performed by aerial manipulators have been successfully demonstrated in contact-based…