  This paper introduces Borinot, an open-source aerial robotic platform
designed to conduct research on hybrid agile locomotion and manipulation using
flight and contacts. This platform features an agile and powerful hexarotor
that can be outfitted with torque-actuated limbs of diverse architecture,
allowing for whole-body dynamic control. As a result, Borinot can perform agile
tasks such as aggressive or acrobatic maneuvers with the participation of the
whole-body dynamics.
  The limbs attached to Borinot can be utilized in various ways; during
contact, they can be used as legs to create contact-based locomotion, or as
arms to manipulate objects. In free flight, they can be used as tails to
contribute to dynamics, mimicking the movements of many animals. This allows
for any hybridization of these dynamic modes, making Borinot an ideal
open-source platform for research on hybrid aerial-contact agile motion.
  To demonstrate the key capabilities of Borinot in terms of agility with
hybrid motion modes, we have fitted a planar 2DoF limb and implemented a
whole-body torque-level model-predictive-control. The result is a capable and
adaptable platform that, we believe, opens up new avenues of research in the
field of agile robotics. Interesting links\footnote{Documentation:
\url{www.iri.upc.edu/borinot}}\footnote{Video:
\url{https://youtu.be/Ob7IIVB6P_A}}.
