相关论文: Static-Equilibrium Oriented Interaction Force Mode…

In this paper a novel aerial manipulation system is proposed. The mechanical structure of the system, the number of thrusters and their geometry will be derived from technical optimization problems. The aforementioned problems are defined…

Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…

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…

The interface for the next generation of Unmanned Vehicle Systems should be an interface with multi-modal displays and input controls. Then, the role of the interface will not be restricted to be a support of the interactions between the…

This paper focuses on the spacecraft attitude control problem with intermittent actuator activation, taking into account the attitude rotation rate limitation and input saturation issue simultaneously. To address this problem, we first…

Unmanned aerial vehicles (UAVs) operating in cluttered environments require efficient and accurate impact modeling to maintain stability post collisions, however classical impulse contact models decouple the normal and tangential…

In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…

Rapid and versatile object manipulation in air is an open challenge. An energy-efficient and adaptive soft gripper combined with an agile aerial vehicle could revolutionize aerial robotic manipulation in areas such as warehousing. This…

Improving sampling efficiency and generalization capability is critical for the successful data-driven control of quadrotor unmanned aerial vehicles (UAVs) that are inherently unstable. While various reinforcement learning (RL) approaches…

Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the…

Flying multiple quadrotors in close proximity presents a significant challenge due to complex aerodynamic interactions, particularly downwash effects that are known to destabilize vehicles and degrade performance. Traditionally,…

As the market for commercially available unmanned aerial vehicles (UAVs) booms, there is an increasing number of small, teleoperated or autonomous aircraft found in protected or sensitive airspace. Existing solutions for removal of these…

The paper takes the first step towards the de- velopment of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from…

This paper presents contributions on nonlinear tracking control systems for a quadrotor unmanned micro aerial vehicle. New controllers are proposed based on nonlinear surfaces composed by tracking errors that evolve directly on the…

This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter unmanned aerial vehicle called swiveling biplane quadrotor. The proposed vehicle design addresses the lack of yaw control authority in…

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…

This paper presents a novel quaternion-based nonsingular control system for underactuated vertical-take-off and landing (VTOL) Unmanned Aerial Vehicles (UAVs). Position and attitude tracking is challenging regarding singularity and…

This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical…

In this paper, a robust control solution for a satellite equipped with a robotic manipulator is presented. First, the dynamic model of the system is derived based on quaternions to describe the evolution of the attitude of the base…

A global model is presented that can be used to study attitude maneuvers of a rigid spacecraft in a circular orbit about a large central body. The model includes gravity gradient effects that arise from the non-uniform gravity field and…