5 accepted papers
Unmanned aerial vehicles (UAVs) are often used for navigating dangerous terrains, however they are difficult to pilot. Due to complex input-output mapping schemes, limited perception, the complex system dynamics and the need to maintain a safe operation distance, novice pilots experience difficultie
This paper extends our previous work on a pneumatic bending module and presents two more modules for rotational and translational motions. In these modules, antagonistic chambers enveloped by rigid shells are adopted to realize bidirectional actuation, and they are characterized by safe actuation, e…
This paper describes a new type of bending module inspired, in part, by the musculoskeletal structure of the lobster leg joint. The bending module proposed combines enhanced torque output, reconfigurability in assembling, safe compliant actuation, and accurate control on its mechanical performance.…
There are many potential applications that require flying robots to navigate through tunnel-like environments, such as inspections of small railway culverts and mineral mappings of mining tunnels. Nevertheless, those environments present many challenges for quadrotors to navigate through. The aerody…
We present a computationally efficient RGB-D based pose estimation solution for less computationally resourced MAVs, which are ideally suited as members in a swarm. Our approach applies the sufficient statistics derived for a least-squares problem to our problem context. RANSAC-based outlier detecti…