This paper introduces Borinot, an open-source flying robotic platform designed to perform hybrid agile locomotion and manipulation. This platform features a compact and powerful hexarotor that can be outfitted with torque-actuated extremities of diverse architecture, allowing for whole-body dynamic control. As a result, Borinot can perform agile tasks such as aggressive or acrobatic maneuvers with the participation of the whole-body dynamics. The extremities attached to Borinot can be utilized in various ways; during contact, they can be used as legs to create contact-based locomotion, or as arms to manipulate objects. In free flight, they can be used as tails to contribute to dynamics, mimicking the movements of many animals. This allows for any hybridization of these dynamic modes, like the jump-flight of chicken and locusts, making Borinot an ideal open-source platform for research on hybrid aerial-contact agile motion. To demonstrate the key capabilities of Borinot, we have fitted a planar 2DoF arm and implemented whole-body torque-level model-predictive-control. The result is a capable and adaptable platform that, we believe, opens up new avenues of research in the field of agile robotics.

翻译：本文介绍了Borinot——一种专为混合敏捷运动与操作设计的开源飞行机器人平台。该平台配备紧凑而强劲的六旋翼系统，可搭载不同构型的扭矩驱动末端执行器，实现全身动态控制。由此，Borinot能够通过全身动力学参与完成激进或特技机动等敏捷任务。其附加的末端执行器具有多种用途：接触状态下可用作腿部实现接触式运动，或作为手臂操作物体；自由飞行时则可模拟动物尾部运动以增强动力学特性。这种设计允许动态模式的任意混合（如鸡与蝗虫的跳跃飞行），使Borinot成为混合空中-接触敏捷运动研究的理想开源平台。为展示关键能力，我们为其加装平面2自由度机械臂，并实现了全身扭矩级模型预测控制。这一强大且适应性强的平台，有望开辟敏捷机器人领域的新研究方向。