Publications by Stefano Mintchev

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Morphology plays an important role in behavioral and locomotion strategies of living and artificial systems. There is biological evidence that adaptive morphological changes can not only extend dynamic performances by reducing tradeoffs during locomotion b ...

Most human-robot interfaces, such as joysticks and keyboards, require training and constant cognitive effort and provide a limited degree of awareness of the robots’ state and its environment. Embodied interactions, that is the bidirectional link between t ...

The teleoperation of nonhumanoid robots is often a demanding task, as most current control interfaces rely on mappings between the operator’s and the robot’s actions, which are determined by the design and characteristics of the interface, and may therefor ...

A swarm of randomly moving miniature robots is an effective solution for the exploration of unknown terrains. However, the deployment of a swarm of miniature robots poses two challenges: finding an adequate locomotion strategy for fast exploration and obst ...

Most current drones are designed with a static morphology aimed at exploiting a single locomotion mode. This results in limited versatility and adaptability to multi-domain environments, such as those encountered in rescue missions, agriculture and inspect ...

Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real‐world environments. Postdisaster scenarios are a particularly rel ...

A planar actuator device, including a base plate including a first, second, and third pair of planar coils, each pair of planar coils having an inner coil and an outer coil, each pair of planar coils arranged along a first, second, and third linear motion ...

Small-winged drones can face highly varied aerodynamic requirements, such as high manoeuvrability for flight among obstacles and high wind resistance for constant ground speed against strong headwinds that cannot all be optimally addressed by a single aero ...

Small-scale drones have enough sensing and computing power to find use across a growing number of applications. However, flying in the low-Reynolds number regime remains challenging. High sensitivity to atmospheric turbulence compromises vehicle stability ...

An aerial vehicle, configured to transport cargo, and including a propulsion system and a foldable cage is described. The foldable cage is substantially linear while in a folded configuration, and substantially circular while in a deployed configuration. M ...

Haptic interfaces can recreate the experience of touch and are necessary to improve human-robot interactions. However, at present, haptic interfaces are either electromechanical devices eliciting very limited touch sensations or devices that may provide mo ...

Over the last decade, the number of drones has significantly increased. In parallel, researchers have started to investigate new human-drone interaction paradigms for a more natural and immersive piloting experience. The use of haptic feedback to establish ...

The ease of use and versatility of drones has contributed to their deployment in several fields, from entertainment to search and rescue. However, drones remain vulnerable to collisions due to pilot mistakes or various system failures. This paper presents ...

Multicopters stand to revolutionize parcel delivery because of their capability to operate in areas with unsuitable road infrastructure and precisely maneuver in cluttered environments. However, current multicopters for delivery can be dangerous for people ...

Collision resilience is an important feature of robots deployed in unstructured and partially unpredictable environments. Herein, a novel dual stiffness (DS) tensegrity platform to integrate collision resilience into a robot body is proposed. The proposed ...

In this paper, we introduce a design principle to develop novel soft modular robots based on tensegrity structures and inspired by the cytoskeleton of living cells. We describe a novel strategy to realize tensegrity structures using planar manufacturing te ...

Haptic human interfaces are nowadays becoming more and more diffused also thanks to their combined use with Virtual Reality & Augmented Reality (VR & AR). Although many research platforms explore kinesthetic interaction with virtual objects, the only feedb ...

A system for interacting with a remote object comprising a wearable jacket for a user, two actuators for supporting arms of the user, motors for causing movements to at least one of a torso and the arms of the user, and sensors for measuring at least one o ...

Haptic guidance has been shown to improve performance in many fields as it can give additional information without overloading other sensory channels such as vision or audition. Our group is investigating new intuitive ways to interact with robots, and we ...

With the aim to extend the versatility and adaptability of robots in complex environments, a novel multi-modal flying and walking robot is presented. The robot consists of a flying wing with adaptive morphology that can perform both long distance flight an ...

Stefano Mintchev

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Adaptive Morphology: A Design Principle for Multimodal and Multifunctional Robots

Embodied Flight with a Drone

Data-driven body–machine interface for the accurate control of drones

A Soft Robot for Random Exploration of Terrestrial Environments

A multi-modal hovering and terrestrial robot with adaptive morphology

The current state and future outlook of rescue robotics

A planar pop-up actuator device with embedded electro-magnetic actuation

Bioinspired morphing wings for extended flight envelope and roll control of small drones

A bioinspired Separated Flow wing provides turbulence resilience and aerodynamic efficiency for miniature drones

Foldable aircraft with protective cage for transportation and transportability

A portable three-degrees-of-freedom force feedback origami robot for human-robot interactions

FOLDAWAY DroneSense, a controller for haptic information encoding for drone pilots

Insect-Inspired Mechanical Resilience for Multicopters

An origami-inspired cargo drone

Dual Stiffness Tensegrity Platform for Resilient Robotics

Bio-inspired Tensegrity Soft Modular Robots

Stiffness Perception of Virtual Objects Using FOLDAWAY-Touch

Jacket for embodied interaction with virtual or distal robotic device

Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation

A bioinspired multi-modal flying and walking robot