Robotics and Intelligent Systems Lab, CityU HK
Robotics and Intelligent Systems Lab, CityU HK
  • Видео 25
  • Просмотров 47 841
An Aerial Robot Achieving Bimodal Flight and Independent Attitude Control through Passive Morphing
0:03 Introduction
0:36 Bimodal Flight
1:00 Mode Transition
1:49 Mapping Application
Enhancing the adaptability and versatility of unmanned micro aerial vehicles (MAVs) is crucial for expanding their application range. In this article, we present a bimodal reconfigurable robot capable of operating in both regular quadcopter flight mode and a unique revolving flight mode, which allows independent control of the vehicle’s position and roll-pitch attitude. This design incorporates passive revolute joints that enable seamless mid-air transitions between the two modes, facilitated by centrifugal forces, without the need for additional actuators. In the regular mode, the robot operates with four ver...
Просмотров: 1 424

Видео

An Agile Monopedal Hopping Quadcopter with Synergistic Hybrid Locomotion
Просмотров 21 тыс.6 месяцев назад
Nature abounds with examples of superior mobility through the fusion of aerial and ground movement. Drawing inspiration from such multimodal locomotion, we introduce a high-performance hybrid hopping and flying robot. The proposed robot seamlessly integrates a nano quadcopter with a passive telescopic leg, overcoming limitations of previous jumping mechanisms that rely on stance phase leg actua...
Aerodynamic Effect for Collision-Free Reactive Navigation of a Small Quadcopter
Просмотров 72811 месяцев назад
0:00 Introduction 0:30 Proximity Effect 0:43 Robot and Wall Sensing Method 1:07 Example of Wall Tracking Flight 1:27 Example of Wall-Following Navigation 1:56 Example of Wall Tracking Flight with a Corner 2:17 Example of Wall-Following Exploration 3:01 Example of Vector Field-based Navigation Tiny multirotor vehicles critically rely on real-time onboard feedback to hover stably. While the small...
Stabilizing Aerodynamic Dampers for Cooperative Transport of a Suspended Payload with Aerial Robots
Просмотров 242Год назад
This paper addresses the problem of stabilizing multiple aerial robots cooperatively transporting a cable-suspended payload by an aeromechanic method. Instead of relying on GNSS or vision and communication for agents to actively estimate and control the state of the multi-body dynamics, we employ lightweight air dampers to make the multi- agent system inherently stable at its equilibrium state,...
Energy efficient perching and takeoff of a miniature rotorcraft
Просмотров 271Год назад
The flight time of aircraft rapidly decreases with smaller scales because the lift-to-drag ratio decreases when scaling down. Aerial-surface locomotion, or perching is one energy efficient solution to prolong the fight time by maintaining the drone at a high vantage point. Current perching strategies require additional components to ensure robots to firmly attach to the surfaces, and able to de...
Aerial Manipulation via Modular Quadrotors with Passively Foldable Airframes
Просмотров 771Год назад
0:00 Introduction 0:27 Reconfigurable Rotor Arms 0:38 Docking Mechanism 1:06 Perching Experiment 1:45 Aerial Manipulation 2:29 Carrying a Heavy Payload The need for physical interactions and aerial manipulation has driven the demand for small multirotor vehicles with higher degrees of actuation and adaptability. This leads to the development of reconfigurable flying robots and modular flight pl...
Quadrolltor: A Reconfigurable Quadrotor with Controlled Rolling and Turning
Просмотров 521Год назад
This letter reports an aerial robot Quadrolltor, with the ability to roll and turn. Existing bimodal quadrotors feature cylindrical rolling cages that are rotationally decoupled from the robot's main rigid body. In contrast, the proposed robot employs passively reconfigurable structures to enable the second mode of locomotion, tightly coupling the attitude of the robot to the rolling cage. The ...
Cooperative Transport of a Suspended Payload via Two Aerial Robots with Inertial Sensing
Просмотров 2912 года назад
0:00 Open-loop experiment 0:36 Flight with mocap feedback 1:11 Flight with onboard estimation and control 1:45 Leader-payload-follower flight 2:48 Flight with varying setpoint angles 3:48 Disturbance rejection experiment 4:48 Outdoor flight In this article, we address the problem of aerial transport of a suspended payload by two vehicles with minimal sensing and computational requirements. Here...
Kaushik Jayaram--Towards autonomous locomotion in cluttered terrain using insect-scale robots
Просмотров 4512 года назад
ICRA 2022 Workshop Challenges and Opportunities of Bio-inspired Design, Actuation, and Locomotion sites.google.com/gapps.cityu.edu.hk/bioinspired-2022icra/home May 23, 2022
Pakpong Chirarattananon--A Plant-Inspired Revolving-Wing Drone with Efficient Hovering Flight
Просмотров 4232 года назад
ICRA 2022 Workshop Challenges and Opportunities of Bio-inspired Design, Actuation, and Locomotion sites.google.com/gapps.cityu.edu.hk/bioinspired-2022icra/home May 23, 2022
Ardian Jusufi--Soft Robotic Gliders Crash-Landing on a Wall
Просмотров 5242 года назад
ICRA 2022 Workshop Challenges and Opportunities of Bio-inspired Design, Actuation, and Locomotion sites.google.com/gapps.cityu.edu.hk/bioinspired-2022icra/home May 23, 2022
Nick Gravish--Synchronizing swarms and flapping-wing flyers
Просмотров 3082 года назад
ICRA 2022 Workshop Challenges and Opportunities of Bio-inspired Design, Actuation, and Locomotion sites.google.com/gapps.cityu.edu.hk/bioinspired-2022icra/home May 23, 2022
Kevin Chen--Insect-scale aerial robots powered by soft artificial muscles
Просмотров 3322 года назад
ICRA 2022 Workshop Challenges and Opportunities of Bio-inspired Design, Actuation, and Locomotion sites.google.com/gapps.cityu.edu.hk/bioinspired-2022icra/home May 23, 2022
Metin Sitti--Adaptive soft-bodied bioinspired multilocomotion in confined spaces
Просмотров 9562 года назад
ICRA 2022 Workshop Challenges and Opportunities of Bio-inspired Design, Actuation, and Locomotion sites.google.com/gapps.cityu.edu.hk/bioinspired-2022icra/home May 23, 2022
Yong-Lae Park--Dexterous Robotic Grippers with Bio-Inspired Designs and Control
Просмотров 3822 года назад
ICRA 2022 Workshop Challenges and Opportunities of Bio-inspired Design, Actuation, and Locomotion sites.google.com/gapps.cityu.edu.hk/bioinspired-2022icra/home May 23, 2022
Farrell Helbling--Taking off: the design of the first autonomous, insect-scale flying robots
Просмотров 2302 года назад
Farrell Helbling Taking off: the design of the first autonomous, insect-scale flying robots
A Bioinspired Revolving-Wing Drone with Passive Attitude Stability and Efficient Hovering Flight
Просмотров 8 тыс.2 года назад
A Bioinspired Revolving-Wing Drone with Passive Attitude Stability and Efficient Hovering Flight
SplitFlyer Air: A Modular Quadcopter that Disassembles into Two Bicopters Mid-Air
Просмотров 4732 года назад
SplitFlyer Air: A Modular Quadcopter that Disassembles into Two Bicopters Mid-Air
A Quadrotor with a Passive Reconfigurable Airframe for Hybrid Terrestrial Locomotion
Просмотров 2 тыс.2 года назад
A Quadrotor with a Passive Reconfigurable Airframe for Hybrid Terrestrial Locomotion
A Micro Aircraft with Passive Variable-Sweep Wings
Просмотров 4 тыс.2 года назад
A Micro Aircraft with Passive Variable-Sweep Wings
Passive Wall Tracking for a Rotorcraft with Tilted and Ducted Propellers using Proximity Effects
Просмотров 1,9 тыс.2 года назад
Passive Wall Tracking for a Rotorcraft with Tilted and Ducted Propellers using Proximity Effects
SplitFlyer: a Modular Quadcoptor that Disassembles into Two Flying Robots
Просмотров 3814 года назад
SplitFlyer: a Modular Quadcoptor that Disassembles into Two Flying Robots
Towards Cooperative Transport of a Suspended Payload via Two Aerial Robots with Inertial Sensing
Просмотров 1274 года назад
Towards Cooperative Transport of a Suspended Payload via Two Aerial Robots with Inertial Sensing
Universal Flying Objects (UFOs)
Просмотров 5054 года назад
Universal Flying Objects (UFOs)
Perching with a Robotic Insect using Adaptive Tracking Control and Iterative Learning Control
Просмотров 6338 лет назад
Perching with a Robotic Insect using Adaptive Tracking Control and Iterative Learning Control

Комментарии

  • @snakehaihai
    @snakehaihai 28 дней назад

    Isn`t this another SR pulsar? But in a unique way, e.g lighter weight

  • @코뿔소32
    @코뿔소32 2 месяца назад

    2:59 insane

  • @코뿔소32
    @코뿔소32 2 месяца назад

    Amazing!

  • @코뿔소32
    @코뿔소32 2 месяца назад

    Amazing!@#

  • @ewertonmsg
    @ewertonmsg 2 месяца назад

    this could be useful in space exploration...

  • @yuanzeng5773
    @yuanzeng5773 2 месяца назад

    What is the relationship between your work and the work in these two papers? They seem to have appeared before yours. 1. PogoDrone: Design, Model, and Control of a Jumping Quadrotor. 2. Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control.

  • @Mortacxo
    @Mortacxo 4 месяца назад

    To add on the design, if not too weightconstraint, you could add a magnetic charging mechanism coupled with a converter and the battery to utilize the energy gained from gravity and the spring effect.

  • @katoy9976
    @katoy9976 4 месяца назад

    Ya satanistler herşey güzel hoş ama "yaşamda karşılık bulmayan alet yok olur." -tokay😎 100 yıl önceye gidin en az 10.000 icat yok olup gitti. Üniversiteler kaynak ayırır geliştirir, insanlar tarafından yaşamda ihtiyaca yönelik gereksinim bulamazsa yok olur gider. Ancak geriye dönük bir araştırma çalışması olarak arşivde yerini alır. Monocycle örneğin. Sirk ve kaykaycılae dışında kim kullanıyor? Ama robotlar için kullanılabilir bir alet. Peki monocycle robot ihtiyacı hayatta nerede var?

  • @conorstewart2214
    @conorstewart2214 4 месяца назад

    The stabilisers are not a good idea, they will act like giants sails on the top and will limit the speeds and acceleration it could achieve when flying, it would also throw off the aerodynamics and the controller. Achieving stability should be possible just using the IMU and some processing and possibly GPS or similar or even optical flow, just like existing drones do, with optical flow and the IMU being the best options. The stabilisers will also make it perform very poorly in wind, it will just get blown about with even light wind and it will make it less efficient even if there is no wind and the efficiency will drop off rapidly when there is wind and with its airspeed.

  • @conorstewart2214
    @conorstewart2214 4 месяца назад

    The direction change hopping seems like it wouldn’t be very useful. Drones can already accelerate and decelerate rapidly, just look at racing drones for an extreme example. It would also likely be better just to coast for a bit before you need to change direction, using the air resistance to slow it down.

  • @GrillaStyle
    @GrillaStyle 4 месяца назад

    Ukraine gonna weaponize this agaisnt Russian armoured tanks

  • @Player-pj9kt
    @Player-pj9kt 4 месяца назад

    This is a really interesting idea. I would like to see it perform in differentent surfaces like sand, rock/gravel, dirt, etc

  • @FranFerioli
    @FranFerioli 5 месяцев назад

    Cannot think of any practical application, but I need one.

  • @mattw7949
    @mattw7949 5 месяцев назад

    I classify this as "repetitive crash-tolerant drone".

  • @topaz4162
    @topaz4162 5 месяцев назад

    Thats fuckin dope

  • @BearMeOut
    @BearMeOut 5 месяцев назад

    1:35 IT CAN WALL JUMP! Soon We will have parkour assassin's Creed robot

  • @EdwardM919
    @EdwardM919 5 месяцев назад

    I mean it's cool and all but can you put a gun on it?

  • @trit2580
    @trit2580 5 месяцев назад

    the doodad

  • @airgin3000
    @airgin3000 5 месяцев назад

    This is a crazy toy for kids also.

  • @dylanm.3692
    @dylanm.3692 5 месяцев назад

    "In other words, It's a drone with a pogo stick."

  • @devangoad
    @devangoad 5 месяцев назад

    I want to ride the pogo copter

  • @jerotoro2021
    @jerotoro2021 5 месяцев назад

    I thought it was going to somehow hop in the air like a blooper.

  • @gicknardner
    @gicknardner 5 месяцев назад

    hop on, little dude

  • @haphazardprism
    @haphazardprism 5 месяцев назад

    Reminded me of the "jumping" tank concept

  • @bananafoneable
    @bananafoneable 5 месяцев назад

    Now imagine these as bombs.....

  • @Dunch0717
    @Dunch0717 5 месяцев назад

    That is the physical manifestation of the word "Thingumabob"

  • @MrEp5
    @MrEp5 5 месяцев назад

    what happens when it hops on soft material and falls over, does it start by itself?

  • @baschoen23
    @baschoen23 5 месяцев назад

    Seems like it could be used for checking levelness of surfaces for largescale 3D printing in remote areas 👍

  • @SwiftNuts
    @SwiftNuts 5 месяцев назад

    In the future all vehicles will be hop-based.

  • @ate-ē-ate
    @ate-ē-ate 5 месяцев назад

    Small drone with a pogo stick on the bottom. Genius.

  • @Muzzino
    @Muzzino 5 месяцев назад

    Quadhopter

  • @Greebstreebling
    @Greebstreebling 5 месяцев назад

    Over what altitude is this effective?

  • @TaylorTheOtter
    @TaylorTheOtter 5 месяцев назад

    I'm really curious if you can get it to hop on a horizontal surface above it like a ceiling. It probably wouldn't have much practical use but it would look so cool if you could make it ricochet around all surfaces of a room

  • @Cr1msonFir3
    @Cr1msonFir3 5 месяцев назад

    I don't see this catching on...

  • @htomerif
    @htomerif 5 месяцев назад

    Well, I don't know that this is a university level thing. Seems like something you bang out with a 3d printer and an RPi in an afternoon but cool, I guess.

    • @PixlRainbow
      @PixlRainbow 5 месяцев назад

      It's easy to build but hard to program.

    • @htomerif
      @htomerif 5 месяцев назад

      @@PixlRainbow not really. I'm not sure why they even used motion capture for this. Its unnecessary. What part do you think is "hard"?

    • @PixlRainbow
      @PixlRainbow 5 месяцев назад

      @@htomerifthe motion capture is just there as an indoors GPS substitute, so they can specify waypoints. It is part of their automated testing setup. The part that is hard is that it uses a Model Based Controller (MBC) instead of PID, which requires the motion of the quadcopter in all possible states to be mapped out ahead of time in the form of an equation. PID is simple and works for cases involving a single input (accelerometer) tied to a single output (thrust), but has the disadvantage that it becomes difficult to tune when there are multiple modes of locomotion mixed together.

    • @htomerif
      @htomerif 5 месяцев назад

      @@PixlRainbow mocap is not an "indoor GPS substitute". GPS is a relatively small part of an IMU, and IMUs can use dead reckoning to follow a list of relative coordinates. (my background is mostly in things that make a one trip towards tank sized objects). There are a whole, whole lot of open source IMU packages and another pile of open source optical motion tracking packages. I've never used either of those because its actually extremely easy to program. For me personally, I wrote an accelerometer/gyro IMU in assembly (and some c) for an ATxmega256 (I forget exactly which one) and I wrote the optical tracking software (i.e. the machine basically tracking the floor) in c using the FFTW library on a (now defunct) TI OMAP processor, though it should work on any ARM processor with NEON extensions. As for "model based controlling" what else is there? Even the weird old quadruped I made of plywood used a physics model of itself. It isn't hard. Just some trig and basic understanding of physics and programming. If this was some ECE 200 level course, then fine. But this is a published paper and as such it is an embarrassment. You know, I'll give you this: maybe this just isn't that easy for most people.

  • @AGWittmann
    @AGWittmann 5 месяцев назад

    uehehe, now invent a hopping flying car ...

  • @tonyoman5018
    @tonyoman5018 5 месяцев назад

    Reminds me of Turnip Head

    • @dylpickle8147
      @dylpickle8147 3 месяца назад

      I couldnt think of his name but this is exactly what I thought lol

  • @B0xF0xplays
    @B0xF0xplays 5 месяцев назад

    I don't see any usage cases.

  • @TestUser-cf4wj
    @TestUser-cf4wj 5 месяцев назад

    Okay, you have locomotion down. Now, what kind of work can it do?

  • @splatter_proto
    @splatter_proto 5 месяцев назад

    I love Agile Monopedal Hopping Quadcopter with Synergistic Hybrid Locomotion

  • @malkeus6487
    @malkeus6487 5 месяцев назад

    The future of the bouncing Betty, folks.

  • @draggador
    @draggador 5 месяцев назад

    It takes some impressive skill to both imagine & make something like this.

  • @terrencewalsh9098
    @terrencewalsh9098 5 месяцев назад

    Just, like, sit. On the ground. Fly when you need. All this talk of efficiency is only in the context of constant unnecessary motion. And this doesn't appear to be able to sit. At all. If you need to move, fly. If you don't need to move, don't. I feel insane. Why does this exist? Besides being adorable, obviously.

  • @CanadasElite
    @CanadasElite 5 месяцев назад

    wow, cool robit!

  • @braddofner
    @braddofner 5 месяцев назад

    Ugh, that voice.... too AI... sorry.

  • @angellestat2730
    @angellestat2730 5 месяцев назад

    Neat idea! I wonder how much mass should be added for this jumping and stabilizing feature, but if you said that it last 50 min, that is beyond the flight time that drones of that size endure. But not sure what would be the max flight time of a specialize drone of that mass without that feature, next time use that to compare. But yeah, the idea seem solid, I understand why this should be more energy efficient in term of flight time and change of direction. But it has one drawback, this work fine against hard surfaces, on dirt ground you would be losing a lot of energy on each jump.

  • @birdie8085
    @birdie8085 5 месяцев назад

    Very impressive

  • @nemonomen3340
    @nemonomen3340 5 месяцев назад

    My cats would destroy this in a day.

  • @pypes84
    @pypes84 5 месяцев назад

    I'm dubbing this a Helihopter and no one is ever going to change my mind.

    • @mystifoxtech
      @mystifoxtech 5 месяцев назад

      i don't think anyone is going to want to change your mind

    • @robertcollins4663
      @robertcollins4663 5 месяцев назад

      Build a man sized one, real life approximation of the Scroll of Icarian Flight.

    • @conorstewart2214
      @conorstewart2214 4 месяца назад

      @@robertcollins4663 it would need a specially designed cockpit to protect the human from the forces of it bouncing which could be pretty high. It also likely wouldn’t be comfortable, lots of impacts and lots of time in free fall, it will probably make people nauseous and vomit, just like the “zero g” planes that fly special paths to achieve free fall. Going from free fall to a sudden impact would be pretty hard on the body, they might have to use the propellers to slow the fall and lessen the impact but this would limit the energy regained by the bounce, so you lose some of the benefits of hopping. The only time this would be truly useful is in exploration or when transporting very non fragile goods.

    • @robertcollins4663
      @robertcollins4663 4 месяца назад

      @@conorstewart2214 I agree 100%. My comment was a joke about how it would kill the user. Explanation of Joke: In Morrowind (a videogame about Scrolls from 2002) whilst walking about one will come across a Bosmer falling from the sky to his death. If you loot the body you find three "Scrolls of Icarian Flight" (Think Icarus, the greek legend) as well as the Bosmer's diary who's final entry is a very optimistic outlook at his latest invention of a Scroll that will let one "leap across continents". If you 'use' one of the Scrolls of Icarian Flight and then jump you will in fact "leap across the continent" likely to your death. This event occurs very close to the game's starting point and can be found-by and kill a new-and-unsuspecting player in under 5 minutes. I like it because the memory of thinking "wow I'm flying, WHAT I DIED????" at age ~11 will always stick with me but it also serves as an effective way to teach new players about fall-damage + the dangers of using what you don't know. A real "you're a long way from home, aren't you?" moment. Honestly what child is going to read "Scroll of Icarian Flight" and make the connection to the legend of Icarus? it's brilliant, I doubt many adults today ever got it.

  • @sumohung2626
    @sumohung2626 5 месяцев назад

    but if mine is not presure detection ? movement detection ? also works. What else ?