Related papers: Passivity-based Decentralized Control for Collabor…
In Physical Human--Robot Interaction (pHRI) grippers, humans and robots may contribute simultaneously to actions, so it is necessary to determine how to combine their commands. Control may be swapped from one to the other within certain…
In this paper, we develop a data-based controller design framework for diffusively coupled systems with guaranteed convergence to an $\epsilon$-neighborhood of the desired formation. The controller is comprised of a fixed controller with an…
Robot interaction control is often limited to low dynamics or low flexibility, depending on whether an active or passive approach is chosen. In this work, we introduce a hybrid control scheme that combines the advantages of active and…
Collaborative transportation of heavy payloads via loco-manipulation is a challenging yet essential capability for legged robots operating in complex, unstructured environments. Centralized planning methods, e.g., holistic trajectory…
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…
Mobile manipulation constitutes a fundamental task for robotic assistants and garners significant attention within the robotics community. A critical challenge inherent in mobile manipulation is the effective observation of the target while…
This paper presents the first decentralized method to enable real-world 6-DoF manipulation of a cable-suspended load using a team of Micro-Aerial Vehicles (MAVs). Our method leverages multi-agent reinforcement learning (MARL) to train an…
For the aerial manipulator that performs aerial work tasks, the actual operating environment it faces is very complex, and it is affected by internal and external multi-source disturbances. In this paper, to effectively improve the…
Passivity theory has recently contributed to developing decentralized control schemes for large-scale systems. Many decentralized passivity-based control schemes are designed in continuous-time. It is well-known, however, that the passivity…
This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double pendulum, and it can generate a body wrench as a control action. The main challenge is the fact…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
When dealing with the haptic teleoperation of multi-limbed mobile manipulators, the problem of mitigating the destabilizing effects arising from the communication link between the haptic device and the remote robot has not been properly…
Problems associated with physical interactions using aerial mobile manipulators (AMM) are being independently addressed with respect to mobility and manipulability. Multirotor unmanned aerial vehicles (UAV) are a common choice for mobility…
Grasping is a core task in robotics with various applications. However, most current implementations are primarily designed for rigid items, and their performance drops considerably when handling fragile or deformable materials that require…
Multi-agent robotic manipulation remains challenging due to the combined demands of coordination, grasp stability, and collision avoidance in shared workspaces. To address these challenges, we propose the Adaptive Dynamic Modality Diffusion…
This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical…
This paper designs a cooperative activity detection framework for massive grant-free random access in the sixth-generation (6G) cell-free wireless networks based on the covariance of the received signals at the access points (APs). In…
In this paper, we present a novel passive single Degree-of-Freedom (DoF) manipulator design and its integration on an autonomous drone to capture a moving target. The end-effector is designed to be passive, to disengage the moving target…
We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced. The approach is twofold: (i) we apply our technique…
Communication and cooperation among team members can be enhanced significantly with physical interaction. Successful collaboration requires the integration of the individual partners' intentions into a shared action plan, which may involve…