The main contributions of this MS Thesis is centered around taking steps towards successful
multi-modal demonstrations using Northeastern's legged-aerial robot, Husky Carbon. This …

This research focuses on enabling Northeastern University's Husky, a multi-modal
quadrupedal robot, to navigate narrow paths akin to various animals in nature. The Husky is …

State estimation and control is a well-studied problem in conventional aerial vehicles such
as multi-rotors. But multi-rotors, while versatile, are not suitable for all applications. Due to …

The 3D flight control of a flapping wing robot is a very challenging problem. The robot
stabilizes and controls its pose through the aerodynamic forces acting on the wing …

Object manipulation has been extensively studied in the context of fixed base and mobile
manipulators. However, the overactuated locomotion modality employed by snake robots …

Object manipulation has been extensively studied in the context of fixed base and mobile
manipulators. However, the overactuated locomotion modality employed by snake robots …