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Models for predicting aircraft motion are an important component of modern aeronautical systems. These models help aircraft plan collision avoidance maneuvers and help conduct offline performance and safety analyses. In this article, we…
Assistive free-flying robots are a promising platform for supporting and working alongside astronauts in carrying out tasks that require interaction with the environment. However, current free-flying robot platforms are limited by existing…
This paper presents a sampling-based planning algorithm for in-hand manipulation of a grasped object using a series of external pushes. A high-level sampling-based planning framework, in tandem with a low-level inverse contact dynamics…
This paper introduces a quadrotor's autonomous take-off and landing system on a moving platform. The designed system addresses three challenging problems: fast pose estimation, restricted external localization, and effective obstacle…
Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…
This paper presents the inverse kinematic analysis and parameters identification of a novel aerial manipulation system. This system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution…
In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute real-time collision-free motion plans for a formation of mobile manipulator…
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…
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…
Grounded haptic devices can provide a variety of forces but have limited working volumes. Wearable haptic devices operate over a large volume but are relatively restricted in the types of stimuli they can generate. We propose the concept of…
In this paper, the problem of coordinated transportation of heavy payload by a team of UAVs in a cluttered environment is addressed. The payload is modeled as a rigid body and is assumed to track a pre-computed global flight trajectory from…
In this paper, first the full dynamics of aerial transportation of a rigid body with arbitrary number of quadrotors is derived. Then a control strategy is proposed to convey the nonuniform rigid body appropriately to the desired trajectory.…
Belief space planning is a viable alternative to formalise partially observable control problems and, in the recent years, its application to robot manipulation problems has grown. However, this planning approach was tried successfully only…
Accurate estimation of aerodynamic forces is essential for advancing the control, modeling, and design of flapping-wing aerial robots with dynamic morphing capabilities. In this paper, we investigate two distinct methodologies for force…
Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In…
This paper studies the problem of fast and safe aerial payload transport by a single quadcopter in urban areas. The quadcopter payload system (QPS) is considered as a rigid body and modeled with a nonlinear dynamics. The urban area is…
This paper presents an assisted telemanipulation framework for reaching and grasping desired objects from clutter. Specifically, the developed system allows an operator to select an object from a cluttered heap and effortlessly grasp it,…
A significant challenge in manipulation motion planning is to ensure agility in the face of unpredictable changes during task execution. This requires the identification and possible modification of suitable joint-space trajectories, since…
This paper proposes a novel robust adaptive model predictive controller for on-orbit dislodging. We study orbit dislodging where a servicing spacecraft uses a robotic arm to free a jammed and unactuated solar panel mounted on a hybrid hinge…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…