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Aerial manipulation (AM) promises to move Unmanned Aerial Vehicles (UAVs) beyond passive inspection to contact-rich tasks such as grasping, assembly, and in-situ maintenance. Most prior AM demonstrations rely on external motion capture…
This paper develops an autonomous tethered aerial visual assistant for robot operations in unstructured or confined environments. Robotic tele-operation in remote environments is difficult due to lack of sufficient situational awareness,…
Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using the human brain with its enormous knowledge and creativity,…
Attaching a robotic manipulator to a flying base allows for significant improvements in the reachability and versatility of manipulation tasks. In order to explore such systems while taking advantage of human capabilities in terms of…
This paper presents a formation control approach for contactless gesture-based Human-Swarm Interaction (HSI) between a team of multi-rotor Unmanned Aerial Vehicles (UAVs) and a human worker. The approach is designed to monitor the safety of…
Robotic systems that can dynamically combine manipulation and locomotion could facilitate dangerous or physically demanding labor. For instance, firefighter humanoid robots could leverage their body by leaning against collapsed building…
Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although advancements in robotic autonomy, human operation remains essential in complex aerial…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…
Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to…
With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works, we considered one of the first systems in…
Teleoperated avatar robots allow people to transport their manipulation skills to environments that may be difficult or dangerous to work in. Current systems are able to give operators direct control of many components of the robot to…
The tasks that an aerial manipulator can perform are incredibly diverse. However, nowadays the technology is not completely developed to achieve complex tasks autonomously. That's why we propose a human-in-the-loop system that can control a…
Unmanned aerial vehicles are rapidly evolving within the field of robotics. However, their performance is often limited by payload capacity, operational time, and robustness to impact and collision. These limitations of aerial vehicles…
Current aerial robots demonstrate limited interaction capabilities in unstructured environments when compared with their biological counterparts. Some examples include their inability to tolerate collisions and to successfully land or perch…
This paper develops and compares two motion planning algorithms for a tethered UAV with and without the possibility of the tether contacting the confined and cluttered environment. Tethered aerial vehicles have been studied due to their…
Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and e-commerce. Most of such applications require teleoperation. The operator receives visual feedback from…
Aerial manipulators, composed of multirotors and robotic arms, have a structure and function highly reminiscent of avian species. This paper studies the tracking control problem for aerial manipulators. This paper studies the tracking…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in…