Borinot 🐝

<p align="center"> <img src="media/borinot_agile.png" width="350" align="center"> </p>

Borinot is an open-source, torque-controlled Unmanned Aerial Loco-Manipulator developed by the HiDRo group.
It dynamically reconfigures its extremity as:

• A tail for agile flight
• A hand for aerial manipulation
• A leg for hybrid aerial-contact locomotion

Watch the demo: YouTube Presentation

Documentation

Start by understanding the architecture and then assembling, configuring, and operating Borinot:

| | | | ------------------------------------------- | ----------------------- | | Borinot architecture | Understand the hardware and software architectures of Borinot | | Hardware Assembly | Components list and instructions for assembling Borinot | | Software Setup | Guide to Borinot's software stack installation, configuration, and subsystem integration | | Operation Manual | Instructions for operating Borinot and troubleshooting |

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Citation

If Borinot contributes to your research, please cite:

<!-- J. Martí-Saumell, H. Duarte, P. Grosch, J. Andrade-Cetto, A. Santamaria-Navarro, J. Solà. Borinot: an open thrust-torque-controlled robot for research on agile aerial-contact motion. arXiv preprint arXiv:2307.14686, 2023.-->

@misc{marti2023borinot,
  title={Borinot: An Open Thrust-Torque-Controlled Robot for Agile Aerial-Contact Motion Research},
  author={Martí-Saumell, Josep and Duarte, Hugo and Grosch, Patrick and Andrade-Cetto, Juan and Santamaria-Navarro, Angel and Solà, Joan},
  journal={arXiv preprint arXiv:2307.14686},
  year={2023}
}

License

Borinot is licensed under the BSD 3-clause license. See LICENSE for details.