11 papers · 1 filter
Exact Thrust-Reversal Limits of Bidirectional Propellers under Bounded Motor Inputs
Ahmed Ali, Chiara Gabellieri, Antonio Franchi
Bidirectional propellers are often treated as signed thrust sources, but their thrust is a signed-quadratic function of rotor speed.Thus, thrust reversal necessarily occurs through…
A Morphing-Designed Hexarotor Prototype combining Practical Resilience and Efficiency
Murat Bronz, Mahmoud Hamandi, Elgiz Baskaya +2
This work demonstrates experimentally the existence of a hexarotor prototype, termed Opti-Hexa, that simultaneously achieves practical resilience to single-propeller failures and e…
Lie Group Formulation of Recursive Dynamics Algorithms of Higher Order for Floating-Base Robots
Ahmed Ali, Chiara Gabellieri, Antonio Franchi
In this paper, we describe procedures for computing higher-order time derivatives of the Lie-group Newton-Euler, Articulated-Body Inertia, and hybrid dynamics algorithms for floati…
Nonlinear Predictive Control of the Continuum and Hybrid Dynamics of a Suspended Deformable Cable for Aerial Pick and Place
Antonio Rapuano, Yaolei Shen, Federico Califano +2
This paper presents a framework for aerial manipulation of an extensible cable that combines a high-fidelity model based on partial differential equations (PDEs) with a reduced-ord…
Geometric Inverse Flight Dynamics on SO(3) and Application to Tethered Fixed-Wing Aircraft
Antonio Franchi, Chiara Gabellieri
We present a robotics-oriented, coordinate-free formulation of inverse flight dynamics for fixed-wing aircraft on SO(3). Translational force balance is written in the world frame a…
Multi-robot Aerial Soft Manipulator For Floating Litter Collection
Antonio González-Morgado, Sander Smits, Guillermo Heredia +6
Removing floating litter from water bodies is crucial to preserving aquatic ecosystems and preventing environmental pollution. In this work, we present a multi-robot aerial soft ma…