Related papers: Tilt-X: Enabling Compliant Aerial Manipulation thr…
With the ongoing efforts to empower people with mobility impairments and the increase in technological acceptance by the general public, assistive technologies, such as collaborative robotic arms, are gaining popularity. Yet, their…
This paper presents a novel VTOL UAV that owns a link connecting four rotors and a fuselage by a passive joint, allowing the control of the rotor's tilting angle by adjusting the rotors' thrust. This unique structure contributes to…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
In this work, we present a novel approach to augment a model-based control method with a reinforcement learning (RL) agent and demonstrate a swing-up maneuver with a suspended aerial manipulation platform. These platforms are targeted…
In various industrial sectors, inspection and maintenance tasks using UAV (Unmanned Aerial Vehicle) require substantial force application to ensure effective adherence and stable contact, posing significant challenges to existing solutions.…
Electroaerodynamic propulsion, where force is produced via the momentum-transferring collisions between accelerated ions and neutral air molecules, is a promising alternative mechanism for flight at the micro air vehicle scale due to its…
Pushing tasks performed by aerial manipulators can be used for contact-based industrial inspections. Underactuated aerial vehicles are widely employed in aerial manipulation due to their widespread availability and relatively low cost.…
General-purpose robotic end-effectors of limited complexity, like the parallel-jaw gripper, are appealing for their balance of simplicity and effectiveness in a wide range of manipulation tasks. However, while many such manipulators offer…
Aerial-aquatic vehicles are capable to move in the two most dominant fluids, making them more promising for a wide range of applications. We propose a prototype with special designs for propulsion and thruster configuration to cope with the…
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…
Grabbing a manoeuvring target using drones is a challenging problem. This paper presents the design, development, and prototyping of a novel aerial manipulator for target interception. It is a single Degree of Freedom (DoF) manipulator with…
Generalizable grasping with high-degree-of-freedom (DoF) dexterous hands remains challenging in tiered workspaces, where occlusion, narrow clearances, and height-dependent constraints are substantially stronger than in open tabletop scenes.…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
Aerial Cable Towed Systems (ACTS) are composed of several Unmanned Aerial Vehicles (UAVs) connected to a payload by cables. Compared to towing objects from individual aerial vehicles, an ACTS has significant advantages such as heavier…
Drilling, grinding, and setting anchors on vertical walls are fundamental processes in everyday construction work. Manually doing these works is error-prone, potentially dangerous, and elaborate at height. Today, heavy mobile ground robots…
As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptability, and precise control. This work presents a real-time…
Mobile manipulators are known for their superior mobility over manipulators on fixed bases, offering promising applications in smart industry and housekeeping scenarios. The dynamic coupling nature between the mobile base and the…
This paper studies the motion planning problem of the pick-and-place of an aerial manipulator that consists of a quadcopter flying base and a Delta arm. We propose a novel partially decoupled motion planning framework to solve this problem.…
Achieving precise lateral motion modeling and decoupled control in hover remains a significant challenge for tail-sitter Unmanned Aerial Vehicles (UAVs), primarily due to complex aerodynamic couplings and the absence of welldefined lateral…
While humans can use parts of their arms other than the hands for manipulations like gathering and supporting, whether robots can effectively learn and perform the same type of operations remains relatively unexplored. As these…