Biomorphic Intelligence Lab Attends IROS 2024 in Abu Dhabi

Our Biomorphic Intelligence Lab was excited to participate in the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024) held in Abu Dhabi, where we presented two papers in the field of aerial robotics.

Tactile Odometry in Aerial Physical Interaction

This paper introduces a novel method for pose estimation of aerial robots using tactile feedback. By integrating a compliant end-effector design equipped with a trackball, our method allows aerial robots to determine their pose during continuous contact with surfaces, achieving centimeter-level accuracy. This tactile odometry provides a robust alternative to traditional navigation techniques, especially in environments where visual or GNSS-based methods are unreliable, such as underground or low-visibility areas. The results from 32 flight experiments demonstrated that our approach is comparable in accuracy to vision-based odometry, but with the added benefit of functioning in challenging conditions. This work is a step forward in enabling aerial robots to operate autonomously in difficult environments, paving the way for advanced applications like underground surveys and contact-based aerial manipulation tasks.

ALBERO: Agile Landing on Branches for Environmental Robotics Operations

The second paper, ALBERO, explores the development of agile landing techniques for aerial robots, allowing them to land on branches in forest environments for ecological monitoring and other environmental operations. More details on this exciting work can be found on its dedicated page.

We were thrilled to share our research at IROS 2024 and to connect with fellow colleagues in the field of robotics. These contributions reflect the Biomorphic Intelligence Lab’s ongoing commitment to advancing the capabilities of aerial robots to physically interact with the real-world.