Related papers: Dynamic Grasping with a "Soft" Drone: From Theory …
Catching objects in flight (i.e., thrown objects) is a common daily skill for humans, yet it presents a significant challenge for robots. This task requires a robot with agile and accurate motion, a large spatial workspace, and the ability…
For robot arms to perform everyday tasks in unstructured environments, these robots must be able to manipulate a diverse range of objects. Today's robots often grasp objects with either soft grippers or rigid end-effectors. However, purely…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumptions that simplify the setup, including environment…
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
This paper has proposed a Digital Twin (DT) framework for real-time motion and pose control of soft robotic grippers. The developed DT is based on an industrial robot workstation, integrated with our newly proposed approach for soft gripper…
In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive…
Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…
The flight of a quadcopter drone, readily available as a toy, is analyzed using simple physics concepts. A smartphone with built-in accelerometer and gyroscope was attached to the drone to register the accelerations and angular velocities…
Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground cooperative tasks. To ensure robust perching, tracking with…
Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics. The rigid nature of these arms often lack compliance, flexibility, and smoothness…
Drones are a versatile platform for both amateur and professional photographers, enabling them to capture photos that are impossible to shoot with ground-based cameras. However, when guided by inexperienced pilots, they have a high…
Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…
Robotic manipulation of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like materials exhibit distinct mechanical characteristics compared to cloth, being more sensitive to…
In this paper, we propose a complete and robust motion planning system for the aggressive flight of autonomous quadrotors. The proposed method is built upon on a classical teach-and-repeat framework, which is widely adopted in…
Drones are conventionally controlled using joysticks, remote controllers, mobile applications, and embedded computers. A few significant issues with these approaches are that drone control is limited by the range of electromagnetic…
In this work, we evaluate the use of aerial drone hover constraints in a multisensor fusion of ground robot and drone data to improve the localization performance of a drone. In particular, we build upon our prior work on cooperative…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
Aerial robots are a well-established solution for exploration, monitoring, and inspection, thanks to their superior maneuverability and agility. However, in many environments, they risk crashing and sustaining damage after collisions.…