Related papers: Cooperative Modular Manipulation with Numerous Cab…
Swarms of aerial drones have recently been considered for last-mile deliveries in urban logistics or automated construction. At the same time, collaborative transportation of payloads by multiple drones is another important area of recent…
Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental…
Collaborative transportation of cable-suspended payloads by teams of Unmanned Aerial Vehicles (UAVs) has the potential to enhance payload capacity, adapt to different payload shapes, and provide built-in compliance, making it attractive for…
The proposed control method uses an adaptive feedforward-based controller to establish a passive input-output mapping for the CDPR that is used alongside a linear time-invariant strictly positive real feedback controller to guarantee robust…
We present EmbodiedMAE, a unified 3D multi-modal representation for robot manipulation. Current approaches suffer from significant domain gaps between training datasets and robot manipulation tasks, while also lacking model architectures…
Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy objects.These tasks, which we refer to as Dynamic Mobile…
This paper presents a safety-critical centralized nonlinear model predictive control (NMPC) framework for cooperative payload transportation by two quadrupedal robots. The interconnected robot-payload system is modeled as a discrete-time…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
Nowadays, being fast and precise are key requirements in Robotics. This work introduces a novel methodology to tune the stiffness of Cable-Driven Parallel Robots (CDPRs) while simultaneously addressing the tension distribution problem. In…
This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-robot legged systems. The incorporation of CBF constraints…
Imagine sitting at your desk, looking at objects on it. You do not know their exact distances from your eye in meters, but you can immediately reach out and touch them. Instead of an externally defined unit, your sense of distance is tied…
Cooperative transportation by multi-aerial robots has the potential to support various payloads and improve failsafe against dropping. Furthermore, changing the attachment positions of robots according payload characteristics increases the…
A quadcopter is an under-actuated system with only four control inputs for six degrees of freedom, and yet the human control of a quadcopter is simple enough to be learned with some practice. In this work, we consider the problem of human…
Building a robust perception module is crucial for visuomotor policy learning. While recent methods incorporate pre-trained 2D foundation models into robotic perception modules to leverage their strong semantic understanding, they struggle…
Mobile manipulation tasks are one of the key challenges in the field of search and rescue (SAR) robotics requiring robots with flexible locomotion and manipulation abilities. Since the tasks are mostly unknown in advance, the robot has to…
We propose a motion planner for cable-driven payload transportation using multiple unmanned aerial vehicles (UAVs) in an environment cluttered with obstacles. Our planner is kinodynamic, i.e., it considers the full dynamics model of the…
For Cable-Driven Parallel Robots, the cable length is the only element we control. Better knowledge of this parameter will improve robot performances. We propose a new cable length autocalibration subsystem. It consists of an instrumented…
A novel motion control system for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and…
Recently there has been a growing interest in industry and academia, regarding the use of wireless chargers to prolong the operational longevity of unmanned aerial vehicles (commonly knowns as drones). In this paper we consider a…
Ensuring safe and effective collaboration between humans and autonomous legged robots is a fundamental challenge in shared autonomy, particularly for teleoperated systems navigating cluttered environments. Conventional shared-control…