相关论文: A highly maneuverable flying squirrel drone with c…
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…
The operation of drones in cluttered environments and over extended areas demands adaptive flight capabilities to meet the opposing aerodynamic requirements of agile and fast cruise flight. High agility and maneuverability are required to…
The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient…
Avian-informed drones feature morphing wing and tail surfaces, enhancing agility and adaptability in flight. Despite their large potential, realising their full capabilities remains challenging due to the lack of generalized control…
In the field of fixed wing aircraft, many morphing technologies have been applied to the wing, such as adaptive airfoil, variable span aircraft, variable swept angle aircraft, etc., but few are aimed at the tail. The traditional fixed wing…
Bird-sized flapping-wing robots offer significant potential for agile flight in complex environments, but achieving agile and robust trajectory tracking remains a challenge due to the complex aerodynamics and highly nonlinear dynamics…
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…
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…
The objective of this work is to design and develop a bio-inspired soft and articulated armwing structure which will be an integral component of a morphing aerial co-bot, Aerobat. In our design, we draw inspiration from bats. Bat membranous…
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…
Autonomous drone navigation faces a critical challenge in achieving accurate landings on dynamic platforms, especially under unpredictable conditions such as wind turbulence. Our research introduces TornadoDrone, a novel Deep Reinforcement…
Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…
There is a growing need for vertical take-off and landing vehicles, including drones, which are safe to use and can adapt to collisions. The risks of damage by collision, to humans, obstacles in the environment, and drones themselves, are…
We investigate the effect of wing twist flexibility on lift and efficiency of a flapping-wing micro air vehicle capable of liftoff. Wings used previously were chosen to be fully rigid due to modeling and fabrication constraints. However,…
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,…
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…
The concept of aerial-aquatic robots has emerged as an innovative solution that can operate both in the air and underwater. Previous research on the design of such robots has been mainly focused on mature technologies such as fixed-wing and…
An aerial vehicle powered by flapping feathered wings was designed, developed and fabricated. Different from legacy flapping-wing aerial vehicles with membrane wings, the new design uses authentic bird feathers to fabricate wings. In field…
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…
Drones have shown to be useful aerial vehicles for unmanned transport missions such as food and medical supply delivery. This can be leveraged to deliver life-saving nutrition and medicine for people in emergency situations. However,…