iRonCub3: Flying humanoid robot to take off soon
A flying humanoid robot is to be used in disaster situations and for inspection work. Until then, the researchers still have work to do.
The engines of the iRonCub3 are tested on a test bench.
(Image: IIT (Screenshot))
Robotics researchers at the Instituto Italiano di Tecnologia (IIT) have developed a humanoid robot nicknamed iRonCub3, which will soon take to the skies equipped with a jetpack. The robot is currently still undergoing trials. It will later be used in disaster areas, for example, where human teams are unable to reach.
The humanoid robot was originally developed as iCub to research artificial intelligence (AI) for robots. In the meantime, however, it has already gone through several iterations. For example, iRonCub3 is based on iCub version 3.0. The robotics experts at IIT have already developed two prototypes. They are equipped with a total of four jet engines. Two of these are housed in a jetpack on the back of the robot, while two more are located on the arms for control. They deliver a thrust of 1000 N to get the robot, which weighs around 70 kg, into the air. The exhaust gas temperature reaches up to 1000 °C. To ensure that the robot can withstand the heat generated by the engines, iRonCub3 has been fitted with a titanium spine and various heat-resistant covers.
Algorithms for trajectory and flight control
One challenge is to develop and get to grips with the robot's trajectory planning and flight control, the researchers write on their project page. For example, the transition between flight and walking must also be taken into account when planning the flight path. The roboticists have developed a momentum-based trajectory planning algorithm in the Python programming language. The planner was validated in a simulation and is currently being tested on a real robot.
Flight control is also a complex problem, the researchers write. Control algorithms had to be developed to control the changes in position and posture of the humanoid robot so that it can fly freely in space. The algorithms are designed in such a way that the robot can be equipped with additional thrusters while still remaining controllable.
Orientation in three-dimensional space
The robot must know its own position in three-dimensional space. The researchers have developed an algorithm that can estimate the robot's position based on sensor data from an Inertial Measurement Unit (IMU) and an Intel RealSense depth camera on the chest of the iRonCub3 for spatial orientation.
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The research team has already tested the robot in a wind tunnel to validate the aerodynamic models. This is because the robot's aerodynamics change as a result of its movements in flight. The aerodynamic model determined will then be used to develop the flight control system.
iRonCub3 is not yet ready for use. Before it can take off on its first test flight, a number of experiments and simulations still need to be carried out with the flight path and flight control system. However, the researchers are confident that the time will soon come. The plan is to use the flying humanoid robot later for rescue missions in disaster areas or for inspection work.
(olb)