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iRonCub for Aerial Humanoid Robotics

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We give humanoid robots
the ability to fly



The current state of the art in robotics lacks a platform able to combine the following capabilities:

  • Manipulation: to open doors, move objects, close valves;
  • Aerial locomotion: to perform outdoor inspection and to move from one building to another;
  • Bipedal terrestrial locomotion: to perform indoor inspection and climb stairs.

Hence, we define aerial humanoid robotics as the outcome of the platforms having the three above capacities.

aerial humanoid robot definition


[aerial] How

[aerial] Research on the flight control of flying humanoid robots

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Built on top of iCub v2.5, it is endowed with 4 jet engines, two of them mounted on the arms and the other two on a jetpack attached to the robot’s back. A few modifications of the hardware design were required to support the external engines, such as the development of a new spine in titanium and the addition of heat-resistant covers for heat protection. The robot with jet engines weights about 45 kg. The turbines can provide a maximum thrust force of more than 750N, and the exhaust temperature reaches over 600 degrees.

[aerial] Research on Computational Fluid Dynamics for aerodynamics modelling

Aerial_video_Momentum-Based Extended Kalman Filter for Thrust Estimation on Flying Multibody Robots


[Aerial] Experimental research on jet turbines and co-design