Related papers: Tendon-driven Grasper Design for Aerial Robot Perc…
This paper presents a simulation framework able of modeling the dynamics of a hanging tether with adjustable length, connecting a UAV to a UGV. The model incorporates the interaction between the UAV, UGV, and a winch, allowing for dynamic…
Soft robots require directional control to navigate complex terrains. However, achieving such control often requires multiple actuators, which increases mechanical complexity, complicates control systems, and raises energy consumption.…
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds…
Fruit harvesting remains predominantly a labor-intensive process, motivating the development of research for robotic grippers. Conventional rigid or vacuum-driven grippers require complex mechanical design or high energy consumption.…
Developing dynamic models for tendon-driven continuum robots is challenging due to their nonlinear, high-dimensional, and friction-dominated dynamics. This paper presents a comparative study of data-driven system identification methods,…
Aerial Manipulator Systems (AMS) have garnered significant interest for their utility in aerial operations. Nonetheless, challenges related to the manipulator's limited stiffness and the coupling disturbance with manipulator movement…
Global warming, loss of biodiversity, and air pollution are among the most significant problems facing Earth. One of the primary challenges in addressing these issues is the lack of monitoring forests to protect them. To tackle this…
In comparison with existing approaches, which struggle with scalability, communication dependency, and robustness against dynamic failures, cooperative aerial transportation via robot swarms holds transformative potential for logistics and…
Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…
Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this…
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
Currently, truss tomato weighing and packaging require significant manual work. The main obstacle to automation lies in the difficulty of developing a reliable robotic grasping system for already harvested trusses. We propose a method to…
The logarithmic spiral is observed as a common pattern in several living beings across kingdoms and species. Some examples include fern shoots, prehensile tails, and soft limbs like octopus arms and elephant trunks. In the latter cases,…
Registering point clouds of forest environments is an essential prerequisite for LiDAR applications in precision forestry. State-of-the-art methods for forest point cloud registration require the extraction of individual tree attributes,…
In this paper, we present a full design of a flying robot to investigate the state of power grid components and to perform the appropriate maintenance procedures according to each fail or defect that could be recognized. To realize this…
This paper is concerned with the approximation of high-dimensional functions in a statistical learning setting, by empirical risk minimization over model classes of functions in tree-based tensor format. These are particular classes of…
In this paper, we present a transformer-based architecture, namely TF-Grasp, for robotic grasp detection. The developed TF-Grasp framework has two elaborate designs making it well suitable for visual grasping tasks. The first key design is…
The work introduces a bio-inspired leader-follower system based on an innovative mechanism proposed as software latching that aims to improve collaboration and coordination between a leader agent and the associated autonomous followers. The…
Tree perception is an essential building block toward autonomous forestry operations. Current developments generally consider input data from lidar sensors to solve forest navigation, tree detection and diameter estimation problems. Whereas…