Related papers: Inspection-on-the-fly using Hybrid Physical Intera…
Flapping wings enable flying animals and biomimetic robots to generate elevated aerodynamic forces. Measurements that demonstrate this capability are based on tethered experiments with robots and animals, and indirect force calculations…
We present a method for fast and accurate physics-based predictions during non-prehensile manipulation planning and control. Given an initial state and a sequence of controls, the problem of predicting the resulting sequence of states is a…
Animals learn to adapt speed of their movements to their capabilities and the environment they observe. Mobile robots should also demonstrate this ability to trade-off aggressiveness and safety for efficiently accomplishing tasks. The aim…
A standard motion control with feedback of the output displacement cannot handle unforeseen contact with environment without penetrating into the soft, i.e. viscoelastic, materials or even damaging the fragile materials. Robotics and…
The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…
This paper presents a hybrid approach that integrates trajectory optimization (TO) and reinforcement learning (RL) for motion planning and control of free-flying multi-arm robots in on-orbit servicing scenarios. The proposed system…
Reconstruction of high-fidelity 3D objects or scenes is a fundamental research problem. Recent advances in RGB-D fusion have demonstrated the potential of producing 3D models from consumer-level RGB-D cameras. However, due to the discrete…
This paper introduces a method for effectively controlling the movement of an Unmanned Aerial Vehicle (UAV) within a tunnel. The primary challenge of this problem lies in the UAV's exposure to nonlinear distance-dependent torques and forces…
Machines that can predict the effect of physical interactions on the dynamics of previously unseen object instances are important for creating better robots and interactive virtual worlds. In this work, we focus on predicting the dynamics…
Physical Human-Humanoid Interaction (pHHI) is a rapidly advancing field with significant implications for deploying robots in unstructured, human-centric environments. In this review, we examine the current state of the art in pHHI through…
Unmanned Aerial Vehicles (UAVs) are transforming infrastructure inspections in the Architecture, Engineering, Construction, and Facility Management (AEC+FM) domain. By synthesizing insights from over 150 studies, this review paper…
Ensuring symmetric stiffness in impedance-controlled robots is crucial for physically meaningful and stable interaction in contact-rich manipulation. Conventional approaches neglect the change of basis vectors in curved spaces, leading to…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
This study offers an interdisciplinary approach to movement technique analysis, designed to deal with intensive interaction between an environment and a trainee. The free-fall stage of skydiving is investigated, when aerial maneuvers are…
It has been reported that virtual reality can be a useful tool for ergonomics study. The proposed integrated simulation system aims at measuring operator's performance in an interactive way for 2D control panel design. By incorporating some…
Accurate manipulation of a deformable body such as a piece of fabric is difficult because of its many degrees of freedom and unobservable properties affecting its dynamics. To alleviate these challenges, we propose the application of…
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…
Robots are soon going to be deployed in non-industrial environments. Before society can take such a step, it is necessary to endow complex robotic systems with mechanisms that make them reliable enough to operate in situations where the…
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
A control system verification framework is presented for unmanned aerial vehicles using theorem proving. The framework's aim is to set out a procedure for proving that the mathematically designed control system of the aircraft satisfies…