iRonCub 3: The Jet-Powered Flying Humanoid Robot
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arXiv
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| Main Authors: | , , , , , , , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866912408986976256 |
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| author | Gorbani, Davide Mohamed, Hosameldin Awadalla Omer L'Erario, Giuseppe Nava, Gabriele Vanteddu, Punith Reddy Pillai, Shabarish Purushothaman Paolino, Antonello Bergonti, Fabio Taliani, Saverio Croci, Alessandro Tremaroli, Nicholas James Traversaro, Silvio Trombetta, Bruno Vittorio Pucci, Daniele |
| author_facet | Gorbani, Davide Mohamed, Hosameldin Awadalla Omer L'Erario, Giuseppe Nava, Gabriele Vanteddu, Punith Reddy Pillai, Shabarish Purushothaman Paolino, Antonello Bergonti, Fabio Taliani, Saverio Croci, Alessandro Tremaroli, Nicholas James Traversaro, Silvio Trombetta, Bruno Vittorio Pucci, Daniele |
| contents | This article presents iRonCub 3, a jet-powered humanoid robot, and its first flight experiments. Unlike traditional aerial vehicles, iRonCub 3 aims to achieve flight using a full-body humanoid form, which poses unique challenges in control, estimation, and system integration. We highlight the robot's current mechanical and software architecture, including its propulsion system, control framework, and experimental infrastructure. The control and estimation framework is first validated in simulation by performing a takeoff and tracking a reference trajectory. Then, we demonstrate, for the first time, a liftoff of a jet-powered humanoid robot - an initial but significant step toward aerial humanoid mobility. Also, we detail how the experimental area around a jet-powered humanoid robot should be designed in order to deal with a level of complexity that is substantially superior than indoor humanoid robot experiments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_01125 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | iRonCub 3: The Jet-Powered Flying Humanoid Robot Gorbani, Davide Mohamed, Hosameldin Awadalla Omer L'Erario, Giuseppe Nava, Gabriele Vanteddu, Punith Reddy Pillai, Shabarish Purushothaman Paolino, Antonello Bergonti, Fabio Taliani, Saverio Croci, Alessandro Tremaroli, Nicholas James Traversaro, Silvio Trombetta, Bruno Vittorio Pucci, Daniele Robotics This article presents iRonCub 3, a jet-powered humanoid robot, and its first flight experiments. Unlike traditional aerial vehicles, iRonCub 3 aims to achieve flight using a full-body humanoid form, which poses unique challenges in control, estimation, and system integration. We highlight the robot's current mechanical and software architecture, including its propulsion system, control framework, and experimental infrastructure. The control and estimation framework is first validated in simulation by performing a takeoff and tracking a reference trajectory. Then, we demonstrate, for the first time, a liftoff of a jet-powered humanoid robot - an initial but significant step toward aerial humanoid mobility. Also, we detail how the experimental area around a jet-powered humanoid robot should be designed in order to deal with a level of complexity that is substantially superior than indoor humanoid robot experiments. |
| title | iRonCub 3: The Jet-Powered Flying Humanoid Robot |
| topic | Robotics |
| url | https://arxiv.org/abs/2506.01125 |