  This paper introduces Borinot, an open-source flying robotic platform
designed to perform hybrid agile locomotion and manipulation. This platform
features a compact and powerful hexarotor that can be outfitted with
torque-actuated extremities 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 extremities 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, like the jump-flight of chicken
and locusts, making Borinot an ideal open-source platform for research on
hybrid aerial-contact agile motion. To demonstrate the key capabilities of
Borinot, we have fitted a planar 2DoF arm and implemented 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.
