相关论文: Orientation Control System: Enhancing Aerial Maneu…
This paper investigates the control problem of steering a group of spherical mobile robots to cooperatively transport a spherical object. By controlling the movements of the robots to exert appropriate contact (pushing) forces, it is…
As aerial robots gain traction in industrial applications, there is growing interest in enhancing their physical interaction capabilities. Pushing tasks performed by aerial manipulators have been successfully demonstrated in contact-based…
Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although advancements in robotic autonomy, human operation remains essential in complex aerial…
This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
Omni-directional mobile robot (OMR) systems have been very popular in academia and industry for their superb maneuverability and flexibility. Yet their potential has not been fully exploited, where the extra degree of freedom in OMR can…
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…
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,…
This work presents the coordinated motion control and obstacle-crossing problem for the four wheel-leg independent motor-driven robotic systems via a model predictive control (MPC) approach based on an event-triggering mechanism. The…
Hopping robots often lose balance on slopes because the tilted ground creates unwanted rotation at landing. This work analyzes that effect using a simple spring mass model and identifies how slope induced impulses destabilize the robot. To…
Convex optimization is crucial in controlling legged robots, where stability and optimal control are vital. Many control problems can be formulated as convex optimization problems, with a convex cost function and constraints capturing…
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…
In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link. First, the robot's unique mechanical design, the dynamics model, and the basic…
Spherical robots can conduct surveillance in hostile, cluttered environments without being damaged, as their protective shell can safely house sensors such as cameras. However, lateral oscillations, also known as wobble, occur when these…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
In this paper, we present an efficient Dynamic Programing framework for optimal planning and control of legged robots. First we formulate this problem as an optimal control problem for switched systems. Then we propose a multi--level…
Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to…
Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, with their limited degrees of freedom and constraints in robot configuration, struggle to simultaneously achieve stability,…
Robot multimodal locomotion encompasses the ability to transition between walking and flying, representing a significant challenge in robotics. This work presents an approach that enables automatic smooth transitions between legged and…
This paper addresses motion planning and con- trol of an overactuated 4-wheel drive train with independent steering (4WIS) where mechanical constraints prevent the wheels from executing full 360-degree rotations (swerve). The configuration…