Nicholas J. Tremaroli
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View article: iRonCub 3: The Jet-Powered Flying Humanoid Robot
iRonCub 3: The Jet-Powered Flying Humanoid Robot Open
This article presents iRonCub 3, a jet-powered humanoid robot, and its first flight experiments. Unlike traditional aerial vehicles, iRonCub 3 aims to achieve flight using a full-body humanoid form, which poses unique challenges in control…
View article: PANDORA: The Open-Source, Structurally Elastic Humanoid Robot
PANDORA: The Open-Source, Structurally Elastic Humanoid Robot Open
In this work, the novel, open-source humanoid robot, PANDORA, is presented where a majority of the structural elements are manufactured using 3D-printed compliant materials. As opposed to contemporary approaches that incorporate the elasti…
View article: Design and Validation of a Low-Level Controller for Hierarchically Controlled Exoskeletons
Design and Validation of a Low-Level Controller for Hierarchically Controlled Exoskeletons Open
In this work, a generalized low-level controller is presented for sensor collection, motor input, and networking with a high-level controller. In hierarchically controlled exoskeletal systems, which utilize series elastic actuators (SEAs),…