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：摘要：本文介绍Borinot——一种面向混合敏捷运动与操作的开源飞行机器人平台。该平台配备紧凑高功率六旋翼，可装配多种构型的力矩驱动末端执行器，实现全身动力学控制。由此，Borinot能够通过全身动力学参与完成激进或特技动作等敏捷任务。其末端执行器具有多模式功能：接触状态下可作为腿部实现接触式运动，或作为手臂进行物体操作；自由飞行时可模仿动物运动作为尾部参与动力学调控。这种设计支持任意动态模式混合，例如模拟鸡与蝗虫的跳跃-飞行行为，使Borinot成为混合空中-接触式敏捷运动研究的理想开源平台。为验证核心性能，我们为其搭载平面2自由度机械臂，并实施全身力矩级模型预测控制。实验证明该平台具备强大适应能力，我们相信这将为敏捷机器人研究开辟新方向。