相关论文: Tension Estimation and Localization for a Tethered…
This paper presents an AI-enabled cascaded hybrid vision/force control framework for tendon-driven aerial continuum manipulators based on constant-strain modeling in $SE(3)$ as a coupled system. The proposed controller is designed to enable…
Jet-powered vertical takeoff and landing (VTOL) drones require precise thrust estimation to ensure adequate stability margins and robust maneuvering. Small-scale turbojets have become good candidates for powering heavy aerial drones.…
As aerial robots are tasked to navigate environments of increased complexity, embedding collision tolerance in their design becomes important. In this survey we review the current state-of-the-art within the niche field of…
Accurate inertial parameter identification is crucial for the simulation and control of robots encountering intermittent contact with the environment. Classically, robots' inertial parameters are obtained from CAD models that are not…
Converting the traction power of kites into electricity can be a low cost solution for wind energy. Reliable control of both trajectory and tether reeling is crucial. The present study proposes a modelling framework describing the dynamic…
We present the identification of the non-linear dynamics of a novel hovercraft design, employing end-to-end deep learning techniques. Our experimental setup consists of a hovercraft propelled by racing drone propellers mounted on a…
In previous research, various types of aerial robots equipped with perching mechanisms have been developed to extend operational time. However, most existing perching methods adopt either an upward or downward approach, making it difficult…
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out…
This paper presents a method for detecting and localizing contact along robot legs using distributed joint torque sensors and a single hip-mounted force-torque (FT) sensor using a generalized momentum-based observer framework. We designed a…
Despite recent progress on trajectory planning of multiple robots and path planning of a single tethered robot, planning of multiple tethered robots to reach their individual targets without entanglements remains a challenging problem. In…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
This paper presents the development of a comprehensive dynamics and stabilizing control architecture for Tethered Unmanned Aerial Vehicle (TUAV) systems. The proposed architecture integrates both onboard and ground-based controllers,…
Aerial manipulators, composed of multirotors and robotic arms, have a structure and function highly reminiscent of avian species. This paper studies the tracking control problem for aerial manipulators. This paper studies the tracking…
Airborne wind energy systems aim to generate renewable energy by means of the aerodynamic lift produced by a wing tethered to the ground and controlled to fly crosswind paths. The problem of maximizing the average power developed by the…
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…
Multilinked aerial robot is one of the state-of-the-art works in aerial robotics, which demonstrates the deformability benefiting both maneuvering and manipulation. However, the performance in outdoor physical world has not yet been…
This paper solves the rendezvous problem for a network of underactuated rigid bodies such as quadrotor helicopters. A control strategy is presented that makes the centres of mass of the vehicles converge to an arbitrarily small neighborhood…
Tendon-driven robotic catheters are capable of precise execution of minimally invasive cardiac procedures including ablations and imaging. These procedures require accurate mathematical models of not only the catheter and tendons but also…