Borinot

Based on published sources · Not tested by us · Sources checked 2026-10-01

Overview

Research aerial manipulator combining a six-motor flying platform with a two-link torque-controlled extremity and an external motion-capture setup. [S001] [S005] [S006] [S007]

Borinot combines a six-motor flying platform with a two-link extremity that upstream describes as a tail, hand or leg depending on the experiment. The hardware list specifies six TMotor F90-1300KV motors with F35A 6S ESCs, an Intel NUC i7 and Pixhawk 5. The arm uses ODRI-based actuator components with a master board and micro driver. This is a research integration project, not just a printable airframe. [S001] [S006] [S007]

Official website · Source code

Specifications

Detail	Description
Type	Six-motor aerial platform with a two-link extremity configurable for manipulation or contact-motion research. Reported by source [S001] [S006] [S007] · Checked 2026-10-01
Intended users	Research laboratories able to integrate custom PX4, ROS 2, ODRI actuators and motion capture Editorial assessment [S001] · Checked 2026-10-01
Assembly	Carbon-fiber frame members, printed components and ODRI actuator parts; preserved STEP/STL files require matching to the assembly guide. Reported by source [S006] [S007] [S014] · Checked 2026-10-01
Calibration	Reconcile motion-capture, PX4 and ROS coordinate conventions, arm hardware and control interface settings. Integration checklist from documented architecture; no calibration performed. Editorial assessment [S005] [S011] · Checked 2026-10-01
Operating system	Ubuntu 20.04 and ROS 2 Galactic in the preserved setup guide Documented historical stack, not a current compatibility or installation test. Reported by source [S008] · Checked 2026-10-01
Computer needed	Onboard NUC plus external laptop/base station, Wi-Fi network and Optitrack computer. Reported by source [S005] · Checked 2026-10-01

3D preview

Preview not available yet. A model has not yet been prepared and approved for display on this page. This does not mean the project lacks CAD files; see Source files and licenses for the reviewed source availability.

Assembly and use

Preserve the estimation chain and its coordinate conventions

The documented state-estimation route combines Pixhawk IMU data with Optitrack position and orientation. Motion-capture data travels through the network to the NUC, then to PX4; the fused estimate returns to the NUC. The ODRI board separately supplies arm state. An external motion-capture computer, network and base station are therefore part of the described setup. [S005]

The architecture names three conventions: Optitrack FUR, PX4 FRD and ROS 2/Eagle MPC FLU. It assigns transformations to the StatePubSub node. A recreation needs to preserve those transformations and the source of each state estimate; simply connecting all devices does not establish consistent coordinates. This review did not measure estimation accuracy or inspect a complete running workspace. [S005]

Match printable parts to the incomplete assembly record

The archive contains STEP and STL parts under hardware/cad_files, including main-body, limb and landing-gear pieces. Several guide links instead use CAD/... paths. The inventory and the assembly illustrations should be reconciled before selecting fabrication files; this review did not validate part fit or completeness. [S006] [S007] [S014]

The parts list leaves one O-ring diameter unspecified, and the flying-arm guide leaves assembled weight unresolved. Its ODRI component links also require a separately matched actuator version. These gaps prevent a complete configuration-specific BOM, mass or delivered cost from being established here. No placeholder is interpreted as a measured specification. [S006] [S007]

The software guide selects custom branches

The documented environment uses Ubuntu 20.04 and ROS 2 Galactic. PX4 comes from the project's motor_control branch for direct actuator control. Eagle MPC uses the bfa2_experiments branch, while the guide selects a modified Crocoddyl sbfddp-v2 branch. Some library versions are stated, but these moving branch references do not identify a complete immutable working set. [S008] [S009] [S010]

The onboard workspace manifest adds seven repositories, including Eagle ROS 2, robot models, ODRI ROS 2, PX4 messages and the VRPN client. It mixes experiment branches with main and master. The setup guide also requires compatible message selections on both sides of the PX4/ROS bridge and calls out a yaml-cpp include-path problem. Preserve the actual resolved revisions and local edits before treating the instructions as reproducible. None of those build or configuration changes was executed here. [S011] [S012]

The Eagle MPC guide warns that numeric parsing depends on a locale using a decimal point. Its visualization example also needs a display. These host-environment requirements are separate from the aircraft's physical assembly. [S010]

Scope of the available release

The primary repository carries a BSD 3-Clause license and provides documentation, integration configuration and mechanical files. That grant does not establish the licensing or completeness of every external flight-controller, ODRI or software dependency. The full matched electronics and firmware set remains unresolved. [S003] [S006] [S009] [S012] [S014]

The operation guide describes a laboratory bring-up and flight workflow, but no fabrication, calibration, simulation, flight or contact experiment was performed for this profile. Upstream demonstrations are not reported as our own reproduced results. [S001] [S013]

Cost

No current, complete configuration-specific build cost has been established for this profile.

Source files and licenses

Available project sources support research coverage; complete build and commercial qualification remain separate.

Layer	Availability / license
mechanical design	available · BSD-3-Clause Project-level BSD notice and preserved STEP/STL parts; third-party ODRI components retain separate terms and version matching is unresolved. [S001] [S003] [S014]
electronics	not found · License not fully assessed External flight-controller/ODRI hardware and modified PX4 identified; complete matching editable electronics and device firmware sources not established in the selected primary archive. [S006] [S009] [S012]
firmware	not found · License not fully assessed External flight-controller/ODRI hardware and modified PX4 identified; complete matching editable electronics and device firmware sources not established in the selected primary archive. [S006] [S009] [S012]
software	available · BSD-3-Clause Integration manifests/configuration available; implementation lives in external repositories whose complete matched payload set was not preserved. [S003] [S012]
documentation	available · BSD-3-Clause [S001] [S003] [S004]

Selected model-based control route uses robot models and optimization, not a pretrained learned policy or training dataset.

References

Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.

S001 · hidro-iri / project contributors
Upstream project overview
Accessed 2026-10-01 · README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S002 · hidro-iri / project contributors
Repository revision and release metadata
Accessed 2026-10-01 · 421fb26287e4db90bc5f6cbdb1a48baca0d0d250
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S003 · hidro-iri / project contributors
Repository license
Accessed 2026-10-01 · LICENSE
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S004 · hidro-iri / project contributors
Pinned repository artifact inventory
Accessed 2026-10-01 · 421fb26287e4db90bc5f6cbdb1a48baca0d0d250 archive file inventory
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S005 · hidro-iri / project contributors
Borinot architecture/README.md
Accessed 2026-10-01 · 421fb26287e4db90bc5f6cbdb1a48baca0d0d250 / architecture/README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S006 · hidro-iri / project contributors
Borinot hardware/0_components_list.md
Accessed 2026-10-01 · 421fb26287e4db90bc5f6cbdb1a48baca0d0d250 / hardware/0_components_list.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S007 · hidro-iri / project contributors
Borinot hardware/6_flying_arm_assembly.md
Accessed 2026-10-01 · 421fb26287e4db90bc5f6cbdb1a48baca0d0d250 / hardware/6_flying_arm_assembly.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S008 · hidro-iri / project contributors
Borinot software/README.md
Accessed 2026-10-01 · 421fb26287e4db90bc5f6cbdb1a48baca0d0d250 / software/README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S009 · hidro-iri / project contributors
Borinot software/1_pixhawk_configuration.md
Accessed 2026-10-01 · 421fb26287e4db90bc5f6cbdb1a48baca0d0d250 / software/1_pixhawk_configuration.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S010 · hidro-iri / project contributors
Borinot software/2_eagle_mpc_installation.md
Accessed 2026-10-01 · 421fb26287e4db90bc5f6cbdb1a48baca0d0d250 / software/2_eagle_mpc_installation.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S011 · hidro-iri / project contributors
Borinot software/4_ros2_workspace.md
Accessed 2026-10-01 · 421fb26287e4db90bc5f6cbdb1a48baca0d0d250 / software/4_ros2_workspace.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S012 · hidro-iri / project contributors
Borinot config/borinot_onboard.repos
Accessed 2026-10-01 · 421fb26287e4db90bc5f6cbdb1a48baca0d0d250 / config/borinot_onboard.repos
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S013 · hidro-iri / project contributors
Borinot operation/README.md
Accessed 2026-10-01 · 421fb26287e4db90bc5f6cbdb1a48baca0d0d250 / operation/README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S014 · hidro-iri / project contributors
Preserved mechanical files
Accessed 2026-10-01 · 421fb26287e4db90bc5f6cbdb1a48baca0d0d250 / archive paths
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.

Research and review details

Source research only; no installation, physical build or performance test performed. No affiliate links added.

Profile edited 2026-10-01 · Sources checked 2026-10-01 · Next review target 2026-10-31

Revision: 421fb26287e4db90bc5f6cbdb1a48baca0d0d250 (commit snapshot; no published stable release found). Combined hardware and software repository activity recorded 2026-04-30 [S002]

Correction guidance · Discussion is not enabled · Profile format 0.6.0-draft.1

Change history