相关论文: A Modular Continuum Manipulator for Aerial Manipul…

In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the…

To facilitate sensing and physical interaction in remote and/or constrained environments, high-extension, lightweight robot manipulators are easier to transport and reach substantially further than traditional serial chain manipulators. We…

Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation,…

Aerial Manipulators (AMs) provide a versatile platform for various applications, including 3D printing, architecture, and aerial grasping missions. However, their operational speed is often sacrificed to uphold precision. Existing control…

In this paper we address the control problem of aerial cable suspended load transportation, using multiple Unmanned Aerial Vehicles (UAVs). First, the dynamical model of the coupled system is obtained using the Newton-Euler formalism, for…

Modular Aerial Robot Systems (MARS) consist of multiple drone modules that are physically bound together to form a single structure for flight. Exploiting structural redundancy, MARS can be reconfigured into different formations to mitigate…

This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…

This work proposes a framework that generates and optimally selects task-specific assembly configurations for a large group of homogeneous modular aerial systems, explicitly enforcing bounds on inter-module downwash. Prior work largely…

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…

Current UAVs capable of perching require added structure and mechanisms to accomplish this. These take the form of hooks, claws, needles, etc which add weight and usually drag. We propose in this paper the dual use of structures already on…

This paper is focused on tracking control for a rigid body payload, that is connected to an arbitrary number of quadrotor unmanned aerial vehicles via rigid links. A geometric adaptive controller is constructed such that the payload…

Aerial robots are evolving from avoiding obstacles to exploiting the environmental contact interactions for navigation, exploration and manipulation. A key challenge in such aerial physical interactions lies in handling uncertain contact…

This paper addresses the problem of controlling a continuum manipulator (CM) in free or obstructed environments with no prior knowledge about the deformation behavior of the CM and the stiffness and geometry of the interacting obstructed…

Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…

A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…

Aerial manipulators, which combine robotic arms with multi-rotor drones, face strict constraints on arm weight and mechanical complexity. In this work, we study a lightweight 2-degree-of-freedom (DoF) arm mounted on a quadrotor via a…

This work considers a large class of systems composed of multiple quadrotors manipulating deformable and extensible cables. The cable is described via a discretized representation, which decomposes it into linear springs interconnected…

Groups of unmanned aerial vehicles (UAVs) are increasingly utilized in transportation task as the combined strength allows to increase the maximum payload. However, the resulting mechanical coupling of the UAVs impose new challenges in…

The disassembly of small household appliances poses significant challenges due to their complex and curved geometries, which render traditional rigid fixtures inadequate. In this paper, we propose a modular vacuum-based fixturing system…

Hyper-redundant tendon-driven manipulators offer greater flexibility and compliance over traditional manipulators. A common way of controlling such manipulators relies on adjusting tendon lengths, which is an accessible control parameter.…