We carry on our research activities with the flying humanoid robot iRonCub. We research how to improve the humanoid robot mechanical design to make it fly effectively.
We have designed a CAD model of the robot using PTC Creo, which is continuously improved based on feedback from real experiments. The current version is iRonCub-Mk1.1. From the CAD model, we use a semi-automatic URDF generation procedure to retrieve updated kinematics and dynamics information. We use the URDF model for planning, control, estimation and simulations.