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This thesis is about modelling, design and control of Miniature Flying Robots (MFR) with a focus on Vertical TakeOff and Landing (VTOL) systems and specifically, micro quadrotors. It introduces a mathematical model for simulation and control of such systems. It then describes a design methodology for a miniature rotorcraft. The methodology is subsequently(More)
—This paper presents a new library called MHaptic for bimanual haptic interaction within generic virtual environments. It has been specifically designed to work with a Haptic Workstation TM. MHaptic provides tools for accelerated development of virtual environment applications with haptic feedback like device calibration, user comfort improvements and(More)
OS4 (Omnidirectional Stationary Flying OUtstretched Robot) is an electrically powered four-rotor miniature helicopter developed towards fully autonomous operation in indoor/outdoor environments. The major goal of this research is the development and implementation of an active control system for a quadrotor helicopter. However, one has to consider seriously(More)
The present study investigates the effect of three types of sensory feedback (visual, auditory and passive haptic) in a context of two-handed interaction with graphical menus in virtual environments. Subjects controlled the position and orientation of a graphical menu using their non-dominant hand and interacted with menu items using their dominant index(More)
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