A first hand control controls an altitude of a vertical takeoff and landing (VTOL) aircraft; the movement of the VTOL aircraft within a plane defined by a roll axis and a pitch axis is independent of the first hand control. The first hand control is provided on a first hand side of a pilot's seat included in the VTOL aircraft. A second hand control controls the movement of the VTOL aircraft within the plane defined by the roll axis and the pitch axis; the altitude of the VTOL aircraft is independent of the second hand control. The second hand control is provided on a second hand side of the pilot's seat that is opposite from the first hand side.

An unmanned aerial vehicle (UAV) control method includes obtaining target flight data and current flight data; determining a control state variable based on the target flight data and the current flight data; and calibrating a center of gravity of the UAV based on the control state variable.

Traveling according to a predefined target speed with each leg of a leg wheel robot grounded in a movement range corresponding to each leg can be performed even on a travel surface such as stairs. Travel surface information of the leg wheel robot that travels while alternately switching a grounding period in which traveling is performed with the wheels at the leg tips grounded to the travel surface and a free leg period in which the wheels at the leg tips are separated from the travel surface is acquired, a movement range corresponding to each leg in which the legs of the leg wheel robot can travel while being grounded to the travel surface is calculated, and track information of the legs for causing the leg wheel robot to travel with each leg grounded to the movement range corresponding to each leg according to a predefined target speed is generated.

Flap pressure shape biasing is disclosed. A disclosed example apparatus includes a flight monitor to determine a movement parameter of an aircraft, the movement parameter corresponding to at least one of a Mach number of the aircraft, an airspeed of the aircraft, or a vertical acceleration of the aircraft, and a spoiler controller to adjust a position of a spoiler of the aircraft to reduce pressure on a flap based on the movement parameter by moving a pressure transition away from the flap.

Systems, methods, and apparatuses for an airframe of a volitant body are presented herein. An apparatus may include a body having a normal axis. The body comprising a central air passage communicating through the body along the normal axis of the body. The central air passage may have an inlet at a first end of the body and an outlet at a second end of the body, the second end being opposite the first end. The central air passage may form an interior surface of the body. The central air passage permitting a flow of air through the body via the central air passage. The inlet may be formed to produce a Venturi effect in the flow of air passing through the central air passage from the inlet to the outlet by choking the flow of air at the inlet.

A forward velocity associated with an aircraft is received. The aircraft includes a multicopter with a plurality of rotors which rotate in a substantially horizontal plane. A pitch offset is determined based at least in part on the forward velocity, where the pitch offset changes monotonically with the forward velocity. A desired pitch is determined based at least in part on the pitch offset and a pitch angle specified via a hand control. A plurality of control signals for the plurality of rotors is determined based at least in part on the desired pitch.

A first attitude estimation unit 16 estimates an attitude of an UAV 1 by performing a Visual-SLAM on the basis of detection values detected by an imaging unit 14, and a second attitude estimation unit 17 estimates an attitude of the UAV 1 on the basis of detection values detected by a rotation angle detection unit 15. And then a control unit 18 controls the attitude of the UAV 1 by utilizing a first attitude estimation result from the first attitude estimation unit 16 and a second attitude estimation result from the second attitude estimation unit 17 at a ratio based on positional information of the UAV 1.

A robot control method includes calculating an optimal feedback gain, an optimal variable matrix, and uncertainty according to a first state variable and a first feedback gain of a robot. The optimal variable matrix represents a degree of a gain that a motion state of the robot has on a control mode of the robot. The method further includes calculating an angle deviation matrix and a noise deviation matrix according to the optimal feedback gain, the optimal variable matrix, the uncertainty, and a second state variable of the robot, obtaining a control torque of the robot according to the second state variable, the optimal feedback gain, the angle deviation matrix, and the noise deviation matrix, and controlling the robot according to the control torque.

A robot control method includes calculating an optimal feedback gain, an optimal variable matrix, and uncertainty according to a first state variable and a first feedback gain of a robot. The optimal variable matrix represents a degree of a gain that a motion state of the robot has on a control mode of the robot. The method further includes calculating an angle deviation matrix and a noise deviation matrix according to the optimal feedback gain, the optimal variable matrix, the uncertainty, and a second state variable of the robot, obtaining a control torque of the robot according to the second state variable, the optimal feedback gain, the angle deviation matrix, and the noise deviation matrix, and controlling the robot according to the control torque.

A marine vessel includes a hull, a propulsion system, a control unit and a motion sensor system. The propulsion system comprises a first drive unit and a second drive unit separated by a longitudinal midship line of the hull, where each drive unit is arranged to generate thrust in a controllable thrust elevation angle and in a controllable thrust azimuth angle, where at least the thrust elevation angles are individually controllable The control unit is arranged to estimate a pitch motion and a roll motion of the hull based on input from the motion sensor system. The control unit is arranged to suppress pitch motion and roll motion by the hull by controlling the thrust elevation angles and the thrust azimuth angles of the first and second drive units.