Related papers: Design Iterations for Passive Aerial Manipulator
The endurance and energy efficiency of drones remain critical challenges in their design and operation. To extend mission duration, numerous studies explored perching mechanisms that enable drones to conserve energy by temporarily…
This paper studies the motion planning problem of the pick-and-place of an aerial manipulator that consists of a quadcopter flying base and a Delta arm. We propose a novel partially decoupled motion planning framework to solve this problem.…
In this paper, a 1-DoF gripper mechanism has been synthesized for the type of mechanism, number of links and joints, and the dimensions of length, width and thickness of links. The type synthesis is done by selecting the proper class of…
Controlling friction at the fingertip is fundamental to dexterous manipulation, yet remains difficult to realize in robotic hands. We present the design and analysis of a robotic fingertip equipped with passive rollers that can be…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…
Integrated Sensing and Communication (ISAC) comprises detection and analysis of non-cooperative targets by exploiting the resources of the mobile radio system. In this context, micro-Doppler is of great importance for target classification,…
Operating drones in urban environments often means they need to land on rooftops, which can have different geometries and surface irregularities. Accurately detecting roof inclination using conventional sensing methods, such as vision-based…
This paper investigates the application of Deep Reinforcement (DRL) Learning to address motion control challenges in drones for additive manufacturing (AM). Drone-based additive manufacturing promises flexible and autonomous material…
This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is…
This paper addresses a critical aerial defense challenge in contested airspace, involving three autonomous aerial vehicles -- a hostile drone (the pursuer), a high-value drone (the evader), and a protective drone (the defender). We present…
In [1,2] a new class of intelligent controllers that can semantically embed an agent in a spatial context constraining its behavior in a goal-oriented manner was suggested. A controller of such a class can guide an agent in a stationary…
Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…
Aerial manipulation (AM) expands UAV capabilities beyond passive observation to contact-based operations at high altitudes and in otherwise inaccessible environments. Although recent advances show promise, most AM systems are developed in…
The work considers the design of an indirect adaptive controller for a satellite equipped with a robotic arm manipulating an object. Uncertainty on the manipulated object can considerably impact the overall behavior of the system. In…
This paper investigates adaptive zero reaction motion control for free-floating space manipulators with uncertain kinematics and dynamics. The challenge in deriving the adaptive reaction null-space (RNS) based control scheme is that it is…
Robotic grippers are widely used in industries for handling objects. This paper presents the procedure of design and fabrication of a stepper motor controlled robotic gripper to be used in industries for handling small objects. The gripper…
The decline of natural pollinators has created a major challenge for crop production in controlled indoor agriculture, particularly in vertical farming environments where natural insect pollination is absent. This motivates the development…
The 6-Degree of Freedom (DoF) grasp method based on point clouds has shown significant potential in enabling robots to grasp target objects. However, most existing methods are based on the point clouds (2.5D points) generated from…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
This paper shows a strategy based on passive force control for collaborative object transportation using Micro Aerial Vehicles (MAVs), focusing on the transportation of a bulky object by two hexacopters. The goal is to develop a robust…