相关论文: Non-Prehensile Manipulation of Cuboid Objects Usin…
Transporting objects using aerial robots has been widely studied in the literature. Still, those approaches always assume that the connection between the quadrotor and the load is made in a previous stage. However, that previous stage…
Quadrotors can carry slung loads to hard-to-reach locations at high speed. Since a single quadrotor has limited payload capacities, using a team of quadrotors to collaboratively manipulate a heavy object is a scalable and promising…
This paper tackles the problem of robots collaboratively towing a load with cables to a specified goal location while avoiding collisions in real time. The introduction of cables (as opposed to rigid links) enables the robotic team to…
From ancient times, humans have been using cables and ropes to tie, carry, and manipulate objects by folding knots. However, automating knot folding is challenging because it requires dexterity to move a cable over and under itself. In this…
This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full control of the co-carrying trajectories by the person while…
Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and…
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.…
In this paper, we present a novel trajectory planning algorithm for cooperative manipulation with multiple quadrotors using control barrier functions (CBFs). Our approach addresses the complex dynamics of a system in which a team of…
This paper is focused on the dynamics and control of arbitrary number of quadrotor UAVs transporting a rigid body payload. The rigid body payload is connected to quadrotors via flexible cables where each flexible cable is modeled as a…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…
A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable…
This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric subsystem induced by the UAV configuration…
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the…
Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
To enlarge the translational workspace of cable-driven robots, one common approach is to increase the number of cables. However, this introduces two challenges: (1) cable interference significantly reduces the rotational workspace, and (2)…
We derived a coordinate-free form of equations of motion for a complete model of a quadrotor UAV with a payload which is connected via a flexible cable according to Lagrangian mechanics on a manifold. The flexible cable is modeled as a…
This paper proposes a task-space control protocol for the collaborative manipulation of a single object by N robotic agents. The proposed methodology is decentralized in the sense that each agent utilizes information associated with its own…
In cable driven parallel robots (CDPRs), the payload is suspended using a network of cables whose length can be controlled to maneuver the payload within the workspace. Compared to rigid link robots, CDPRs provide better maneuverability due…