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Adarsh Salagame

Research Area

Aerial Robots

Robots that can fly through varying forms of fluid structure interaction, including flapping wings, rotors and multimodal-morphing flight.

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Aerial Robots

Papers

Related papers

23 listed

[PAPER] Conjugate momentum based thruster force estimate in dynamic multimodal robot
Paper · 2025

[PAPER] Conjugate momentum based thruster force estimate in dynamic multimodal robot

In a multi-modal system which combines thruster and legged locomotion such our state-of-the-art Harpy platform to perform dynamic locomotion. Therefore, it is very important to…
[PAPER] Dynamic Quadrupedal Legged and Aerial Locomotion via Structure Repurposing
Paper · 2025

[PAPER] Dynamic Quadrupedal Legged and Aerial Locomotion via Structure Repurposing

Multi-modal ground-aerial robots have been extensively studied, with a significant challenge lying in the integration of conflicting requirements across different modes of…
[PAPER] NMPC-Based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery
Paper · 2025

[PAPER] NMPC-Based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery

Multi-rotors face significant risks, as actuator failures at high altitudes can easily result in a crash and the robot’s destruction. Therefore, rapid fault recovery in the event…
[PAPER] Optimal Trajectory Planning in a Vertically Undulating Snake Locomotion using Contact-implicit Optimization
Paper · 2025

[PAPER] Optimal Trajectory Planning in a Vertically Undulating Snake Locomotion using Contact-implicit Optimization

Contact-rich problems, such as snake robot locomotion, offer unexplored yet rich opportunities for optimization-based trajectory and acyclic contact planning. So far, a…
[PAPER] Quadratic Programming-Based Posture Manipulation and Thrust-vectoring for Agile Dynamic Walking on Narrow Pathways
Paper · 2025

[PAPER] Quadratic Programming-Based Posture Manipulation and Thrust-vectoring for Agile Dynamic Walking on Narrow Pathways

There has been significant advancement in legged robot’s agility where they can show impressive acrobatic maneuvers, such as parkour. These maneuvers rely heavily on posture…
[PAPER] Thruster-Assisted Incline Walking of a Legged-Aerial Robot Using Reduced Order Model and Collocation Method
Paper · 2025

[PAPER] Thruster-Assisted Incline Walking of a Legged-Aerial Robot Using Reduced Order Model and Collocation Method

In this study, our aim is to evaluate the effectiveness of thruster-assisted steep slope walking for the Husky Carbon, a quadrupedal robot equipped with custom-designed actuators…
[PAPER] Bounding Flight Control of Dynamic Morphing Wings
Paper · 2024

[PAPER] Bounding Flight Control of Dynamic Morphing Wings

Vertebrate flyers perform intermittent flights as bounding or oscillating flights for power management. Intermittent flights and the resulting oscillating height during flapping…
[PAPER] Enabling steep slope walking on Husky using reduced order modeling and quadratic programming
Paper · 2024

[PAPER] Enabling steep slope walking on Husky using reduced order modeling and quadratic programming

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 method…
[PAPER] Enhanced Capture Point Control Using Thruster Dynamics and QP-Based Optimization for Harpy
Paper · 2024

[PAPER] Enhanced Capture Point Control Using Thruster Dynamics and QP-Based Optimization for Harpy

Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These…
[PAPER] Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a Slithering Robot
Paper · 2024

[PAPER] Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a Slithering Robot

Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots…
[PAPER] Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation
Paper · 2024

[PAPER] Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation

Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots…
[PAPER] Quadratic Programming Optimization for Bio-Inspired Thruster-Assisted Bipedal Locomotion on Inclined Slopes
Paper · 2024

[PAPER] Quadratic Programming Optimization for Bio-Inspired Thruster-Assisted Bipedal Locomotion on Inclined Slopes

Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These…
[PAPER] Quadrupedal Locomotion Control On Inclined Surfaces Using Collocation Method
Paper · 2024

[PAPER] Quadrupedal Locomotion Control On Inclined Surfaces Using Collocation Method

Inspired by Chukars wing-assisted incline running (WAIR), in this work, we employ a high-fidelity model of our Husky Carbon quadrupedal-legged robot to walk over steep slopes of…
[PAPER] Thruster-Assisted Incline Walking
Paper · 2024

[PAPER] Thruster-Assisted Incline Walking

In this study, our aim is to evaluate the effectiveness of thruster-assisted steep slope walking for the Husky Carbon, a quadrupedal robot equipped with custom-designed actuators…
[PAPER] Actuation and Flight Control of High-DOF Dynamic Morphing Wing Flight by Shifting Structure Response
Paper · 2023

[PAPER] Actuation and Flight Control of High-DOF Dynamic Morphing Wing Flight by Shifting Structure Response

Bat's dynamically morphing wings are highly versatile with many active and passive modes which allows them to display highly dexterous flight maneuvers. We take inspiration from…
[PAPER] Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV-UAV Morphing Robot
Paper · 2023

[PAPER] Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV-UAV Morphing Robot

Some animals exhibit multi-modal locomotion capability to traverse a wide range of terrains and environments, such as amphibians that can swim and walk or birds that can fly and…
[PAPER] Hovering Control of Flapping Wings in Tandem with Multi-Rotors
Paper · 2023

[PAPER] Hovering Control of Flapping Wings in Tandem with Multi-Rotors

This work briefly covers our efforts to stabilize the flight dynamics of Northeatern's tailless bat-inspired micro aerial vehicle, Aerobat. Flapping robots are not new. A plethora…
Paper · 2023

[PAPER] Progress Towards Untethered Autonomous Flight of Northeastern University Aerobat

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…
[PAPER] A Letter on Progress Made on Husky Carbon: A Legged-Aerial, Multi-modal Platform
Paper · 2022

[PAPER] A Letter on Progress Made on Husky Carbon: A Legged-Aerial, Multi-modal Platform

Animals, such as birds, widely use multi-modal locomotion by combining legged and aerial mobility with dominant inertial effects. The robotic biomimicry of this multi-modal…
[PAPER] Bang-Bang Control Of A Tail-less Morphing Wing Flight
Paper · 2022

[PAPER] Bang-Bang Control Of A Tail-less Morphing Wing Flight

Bats' dynamic morphing wings are known to be extremely high-dimensional, and they employ the combination of inertial dynamics and aerodynamics manipulations to showcase extremely…
Paper · 2022

[PAPER] Practical Challenges in Landing a UAV on a Dynamic Target

Unmanned Aerial Vehicles grow more popular by the day and applications for them are crossing boundaries of science and industry, with everything from aerial photography to package…
[PAPER] Precision Landing of a UAV on a Moving Platform for Outdoor Applications
Paper · 2022

[PAPER] Precision Landing of a UAV on a Moving Platform for Outdoor Applications

As UAV technology improves, more uses have been found for these versatile autonomous vehicles, from surveillance to aerial photography, to package delivery, and each of these…
[PAPER] Unsteady aerodynamic modeling of Aerobat using lifting line theory and Wagner's function
Paper · 2022

[PAPER] Unsteady aerodynamic modeling of Aerobat using lifting line theory and Wagner's function

Flying animals possess highly complex physical characteristics and are capable of performing agile maneuvers using their wings. The flapping wings generate complex wake structures…