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Aerial robotics for transporting suspended payloads as the form of freely-floating manipulator are growing great interest in recent years. However, the force/torque caused by payload and residual dynamics will introduce unmodeled…
This paper presents an estimation and control algorithm for an aerial manipulator using a hexacopter with a 2-DOF robotic arm. The unknown parameters of a payload are estimated by an on-line estimator based on parametrization of the aerial…
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…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
Soft pneumatic actuators have seen applications in many soft robotic systems, and their pressure-driven nature presents unique challenges and opportunities for controlling their motion. In this work, we present a new concept: designing and…
Stability and reliable operation under a spectrum of environmental conditions is still an open challenge for soft and continuum style manipulators. The inability to carry sufficient load and effectively reject external disturbances are two…
With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…
This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a…
This paper presents QuadSoft, a novel fully actuated quadrotor equipped with continuous-curvature, tendon-driven soft robotic arms. The design combines a semi-rigid central frame with flexible arms, enabling controlled structural…
Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are…
Existing studies for environment interaction with an aerial robot have been focused on interaction with static surroundings. However, to fully explore the concept of an aerial manipulation, interaction with moving structures should also be…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
Expressive motion planning for Aerial Manipulators (AMs) is essential for tackling complex manipulation tasks, yet achieving coupled trajectory planning adaptive to various tasks remains challenging, especially for those requiring…
Developing feasible body trajectories for legged systems on arbitrary terrains is a challenging task. In this paper, we present a paradigm that allows to design feasible Center of Mass (CoM) and body trajectories in an efficient manner. In…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection. The fully actuated tilt-rotor aerial system is equipped…
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position…
Traffic Management in Advanced Aerial Mobility (AAM) inherits many elements of conventional Air Traffic Management (ATM), but brings new complexities and challenges of its own. One of its ways of guaranteeing separation is the use of…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
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.…