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 …

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 …

Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive
maneuver that can be extended to legged aerial systems. This study proposes a control …

This thesis enhances the autonomy of the M4 (Multi-Modal Mobility Morphobot) robot,
designed for Mars and rescue missions. The research enables the robot to autonomously …

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

Passive tumbling uses natural forces like gravity for efficient travel. But without an active
means of control, passive tumblers must rely entirely on external forces. Northeastern …

CanSats are earth bound analogues for orbital micro and picosatellites. These devices have
become increasingly relevant as small-scale satellites, such as CubeSats, have grown in …

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

The principal aim of this Master's thesis is to propel the optimization of the membrane wing
structure of the Northeastern Aerobat through origami techniques and enhancing its capacity …