相关论文: iRonCub 3: The Jet-Powered Flying Humanoid Robot

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…

Failure detection and fault tolerant control are fundamental safety features of any aerial vehicle. With the emergence of complex, multi-body flying systems such as jet-powered humanoid robots, it becomes of crucial importance to design…

This paper presents a CAD-driven co-design framework for optimizing jet-powered aerial humanoid robots to execute dynamically constrained trajectories. Starting from the iRonCub-Mk3 model, a Design of Experiments (DoE) approach is used to…

We propose a novel Model Predictive Control (MPC) framework for a jet-powered flying humanoid robot. The controller is based on a linearised centroidal momentum model to represent the flight dynamics, augmented with a second-order nonlinear…

Co-design optimization strategies usually rely on simplified robot models extracted from CAD. While these models are useful for optimizing geometrical and inertial parameters for robot control, they might overlook important details…

This paper presents a modeling and control framework for multibody flying robots subject to non-negligible aerodynamic forces acting on the centroidal dynamics. First, aerodynamic forces are calculated during robot flight in different…

The paper takes the first step towards the de- velopment of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from…

In this chapter we describe the history and evolution of the iCub humanoid platform. We start by describing the first version as it was designed during the RobotCub EU project and illustrate how it evolved to become the platform that is…

Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to…

The general problem of planning feasible trajectories for multimodal robots is still an open challenge. This paper presents a whole-body trajectory optimisation approach that addresses this challenge by combining methods and tools developed…

Jumping can be an effective way of locomotion to overcome small terrain gaps or obstacles. In this paper we propose two different approaches to perform jumps with a humanoid robot. Specifically, starting from a pre-defined CoM trajectory we…

Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…

Achieving short-distance flight helps improve the efficiency of humanoid robots moving in complex environments (e.g., crossing large obstacles or reaching high places) for rapid emergency missions. This study proposes a design of a flying…

The humanoid robot iCub is a research platform of the Fondazione Istituto Italiano di Tecnologia (IIT), spread among different institutes around the world. In the most recent version of iCub, the robot is equipped with stronger legs and…

We present pyCub, an open-source physics-based simulation of the humanoid robot iCub, along with exercises to teach students the basics of humanoid robotics. Compared to existing iCub simulators (iCub SIM, iCub Gazebo), which require C++…

One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…

When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This…

Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at…

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…

Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, research in humanoid robots is often bottlenecked by the costly…