Borinot is an open-source Unmanned Aerial Loco-Manipulator, developed by the HiDRo group. This torque-controlled robot is designed for hybrid flying and contact loco-manipulation. It utilizes its extremity as a tail for flying locomotion, a hand for agile aerial manipulation, or a leg for hybrid aerial-contact locomotion. You can watch Borinot in action here.
Before deploying Borinot, ensuring a proper assembly and configuration is pivotal. To guide you through this process, we've created detailed instructions for the robot's assembly and its software configuration:
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- Components List - A comprehensive list of all parts you'll need.
- Building Instructions - Step by step guide to build Borinot.
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Software
⚠️ In construction- Borinot Bringups - Steps required to bring up the various subsystems of Borinot, including the flight controller, manipulator, and sensors.
If you encounter any difficulties during assembly or setup, our Troubleshooting section is here to help.
To use Borinot, we've made a set of guides to help you get started with it:
- Preflight Checks - This document contains a checklist of preflight checks that must be performed before operating Borinot to ensure its safety and reliability.
- Optitrack fusion - This document explains how to fuse data from the Optitrack motion capture system and the PX4 flight controller to obtain accurate position and orientation estimates for Borinot.
- MPC Controller - This document provides an overview of the Model Predictive Controller (MPC) used to control Borinot's hybrid locomotion, and explains how to run simulations and experiments with the controller.
If you use Borinot in your research work, please acknowledge our work by citing the following paper:
⚠️ [Citation Information Pending]
Borinot is licensed under the BSD 3-clause license. You can read the full license here.