5 citations · 27 across the 25 of their papers we have counts for
25 papers · 1 filter
How Strong a Kick Should be to Topple Northeastern's Tumbling Robot?
Adarsh Salagame, Neha Bhattachan, Andre Caetano +16
Rough terrain locomotion has remained one of the most challenging mobility questions. In 2022, NASA's Innovative Advanced Concepts (NIAC) Program invited US academic institutions t…
Dynamic modeling of wing-assisted inclined running with a morphing multi-modal robot
Eric Sihite, Alireza Ramezani, Morteza Gharib
Robot designs can take many inspirations from nature, where there are many examples of highly resilient and fault-tolerant locomotion strategies to navigate complex terrains by usi…
Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV-UAV Morphing Robot
Eric Sihite, Filip Slezak, Ioannis Mandralis +5
Some animals exhibit multi-modal locomotion capability to traverse a wide range of terrains and environments, such as amphibians that can swim and walk or birds that can fly and wa…
Hovering Control of Flapping Wings in Tandem with Multi-Rotors
Aniket Dhole, Bibek Gupta, Adarsh Salagame +7
This work briefly covers our efforts to stabilize the flight dynamics of Northeastern's tailless bat-inspired micro aerial vehicle, Aerobat. Flapping robots are not new. A plethora…
Aerobat, A Bioinspired Drone to Test High-DOF Actuation and Embodied Aerial Locomotion
Alireza Ramezani, Eric Sihite
This work presents an actuation framework for a bioinspired flapping drone called Aerobat. This drone, capable of producing dynamically versatile wing conformations, possesses 14 b…
Wake-Based Locomotion Gait Design for Aerobat
Eric Sihite, Alireza Ramezani
Flying animals, such as bats, fly through their fluidic environment as they create air jets and form wake structures downstream of their flight path. Bats, in particular, dynamical…
Unsteady aerodynamic modeling of Aerobat using lifting line theory and Wagner's function
Eric Sihite, Paul Ghanem, Adarsh Salagame +1
Flying animals possess highly complex physical characteristics and are capable of performing agile maneuvers using their wings. The flapping wings generate complex wake structures…
A Letter on Progress Made on Husky Carbon: A Legged-Aerial, Multi-modal Platform
Adarsh Salagame, Shoghair Manjikian, Chenghao Wang +8
Animals, such as birds, widely use multi-modal locomotion by combining legged and aerial mobility with dominant inertial effects. The robotic biomimicry of this multi-modal locomot…
Model Predictive Loitering and Trajectory Tracking of Suspended Payloads in Cable-Driven Balloons Using UGVs
Julius Wanner, Eric Sihite, Alireza Ramezani +1
The feasibility of performing airborne and ground manipulation, perception, and reconnaissance using wheeled rovers, unmanned aerial vehicles, CubeSats, SmallSats and more have bee…
Bang-Bang Control Of A Tail-less Morphing Wing Flight
Eric Sihite, Xintao Hu, Bozhen Li +3
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 a…
Efficient Path Planning and Tracking for Multi-Modal Legged-Aerial Locomotion Using Integrated Probabilistic Road Maps (PRM) and Reference Governors (RG)
Eric Sihite, Benjamin Mottis, Paul Ghanem +2
There have been several successful implementations of bio-inspired legged robots that can trot, walk, and hop robustly even in the presence of significant unplanned disturbances. D…
Optimization-free Ground Contact Force Constraint Satisfaction in Quadrupedal Locomotion
Eric Sihite, Pravin Dangol, Alireza Ramezani
We are seeking control design paradigms for legged systems that allow bypassing costly algorithms that depend on heavy on-board computers widely used in these systems and yet being…
Unilateral Ground Contact Force Regulations in Thruster-Assisted Legged Locomotion
Eric Sihite, Pravin Dangol, Alireza Ramezani
In this paper, we study the regulation of the Ground Contact Forces (GRF) in thruster-assisted legged locomotion. We will employ Reference Governors (RGs) for enforcing GRF constra…
Reduced-Order-Model-Based Feedback Design for Thruster-Assisted Legged Locomotion
Pravin Dangol, Alireza Ramezani
Real-time constraint satisfaction for robots can be quite challenging due to the high computational complexity that arises when accounting for the system dynamics and environmental…
Generative Design of NU's Husky Carbon, A Morpho-Functional, Legged Robot
Alireza Ramezani, Pravin Dangol, Eric Sihite +2
We report the design of a morpho-functional robot called Husky Carbon. Our goal is to integrate two forms of mobility, aerial and quadrupedal-legged locomotion, within a single pla…
An Integrated Mechanical Intelligence and Control Approach Towards Flight Control of Aerobat
Eric Sihite, Atefe Darabi, Pravin Dangol +2
Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Ba…
Rough-Terrain Locomotion and Unilateral Contact Force Regulations With a Multi-Modal Legged Robot
Kaier Liang, Eric Sihite, Pravin Dangol +2
Despite many accomplishments by legged robot designers, state-of-the-art bipedal robots are prone to falling over, cannot negotiate extremely rough terrains and cannot directly reg…
Mechanical design and fabrication of a kinetic sculpture with application to bioinspired drone design
Andrew Lessieur, Eric Sihite, Pravin Dangol +2
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, suc…
Orientation stabilization in a bioinspired bat-robot using integrated mechanical intelligence and control
Eric Sihite, Andrew Lessieur, Pravin Dangol +2
Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Ba…
Mechanism Design of a Bio-inspired Armwing Mechanism for Mimicking Bat Flapping Gait
E. Sihite, P. Kelly, A. Ramezani
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.…
Enforcing nonholonomic constraints in Aerobat, a roosting flapping wing model
Eric Sihite, Alireza Ramezani
Flapping wing flight is a challenging dynamical problem and is also a very fascinating subject to study in the field of biomimetic robotics. A Bat, in particular, has a very articu…
Thruster-assisted center manifold shaping in bipedal legged locomotion
Arthur C. B. de Oliveira, Alireza Ramezani
This work tries to contribute to the design of legged robots with capabilities boosted through thruster-assisted locomotion. Our long-term goal is the development of robots capable…
Towards biomimicry of a bat-style perching maneuver on structures: the manipulation of inertial dynamics
Alireza Ramezani
The flight characteristics of bats remarkably have been overlooked in aerial drone designs. Unlike other animals, bats leverage the manipulation of inertial dynamics to exhibit aer…
Towards thruster-assisted bipedal locomotion for enhanced efficiency and robustness
Pravin Dangol, Alireza Ramezani
In this paper, we will report our efforts in designing closed-loop feedback for the thruster-assisted walking of bipedal robots. We will assume for well-tuned supervisory controlle…