相关论文: Tension Estimation and Localization for a Tethered…

A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…

Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…

Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging…

Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…

This technical note focuses on the control of a quadrotor unmanned aerial vehicle (UAV) tethered to the ground. The control objective is to stabilize the UAV to the desired position while ensuring that the cable remains taut at all times. A…

The flight time of multirotor unmanned aerial vehicles (UAVs) is typically constrained by their high power consumption. Tethered power systems present a viable solution to extend flight times while maintaining the advantages of multirotor…

A new disturbance observer based control scheme is developed for a quadrotor under the concurrent disturbances from a lightweight elastic tether cable and a lumped vertical disturbance. This elastic tether is unusual as it creates a…

This paper introduces a learning-based low-level controller for quadcopters, which adaptively controls quadcopters with significant variations in mass, size, and actuator capabilities. Our approach leverages a combination of imitation…

Small catheters undergo significant torsional deflections during endovascular interventions. A key challenge in enabling robot control of these catheters is the estimation of their bending planes. This paper considers approaches for…

To overcome the short flight duration of drones, research on in-flight inductive power transfer has been recognized as an essential solution. Thus, it is important to accurately estimate and control the attitude of the drones which operate…

This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accuracy and low-cost collision geometries for quadrupeds…

Reduced traction limits the ability of mobile robotic systems to resist or apply large external loads, such as tugging a massive payload. One simple and versatile solution is to wrap a tether around naturally occurring objects to leverage…

Legged robots have great potential to perform loco-manipulation tasks, yet it is challenging to keep the robot balanced while it interacts with the environment. In this paper we study the use of additional contact points for maximising the…

A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…

We consider a motorized aircraft tethered to a central anchorage point in a configuration similar to a control line model airplane. For this system, we address the problem of automatic take-off and landing (ATOL) with a circular path, whose…

In this article, a novel combined aerial cooperative tethered carrying and path planning framework is introduced with a special focus on applications in confined environments. The proposed work is aiming towards solving the path planning…

Though control algorithms for multirotor Unmanned Air Vehicle (UAV) are well understood, the configuration, parameter estimation, and tuning of flight control algorithms takes quite some time and resources. In previous work, we have shown…

We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…

In this paper, a flexible tether-net system is applied to capture the space debris and a numerical framework is established to explore its nonlinear dynamic behaviors, which comprises four principal phases: folding, spreading, contacting,…

Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance…