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Robotic arms are essential to modern industries, however, their adaptability to unstructured environments remains limited. Soft robotic arms, particularly those actuated pneumatically, offer greater adaptability in unstructured environments…

Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…

Most human-robot interfaces, such as joysticks and keyboards, require training and constant cognitive effort and provide a limited degree of awareness of the robots state and its environment. Embodied interactions, instead of interfaces,…

Mobile manipulation tasks are one of the key challenges in the field of search and rescue (SAR) robotics requiring robots with flexible locomotion and manipulation abilities. Since the tasks are mostly unknown in advance, the robot has to…

Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…

Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…

Aerial manipulation has recently attracted increasing interest from both industry and academia. Previous approaches have demonstrated success in various specific tasks. However, their hardware design and control frameworks are often tightly…

In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during…

AI and robotics technologies have witnessed remarkable advancements in the past decade, revolutionizing work patterns and opportunities in various domains. The application of these technologies has propelled society towards an era of…

This paper proposed a novel fully-actuated hexacopter. It features a dual-frame passive tilting structure and achieves independent control of translational motion and attitude with minimal actuators. Compared to previous fully-actuated…

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,…

The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive…

As roles for unmanned aerial vehicles (UAV) continue to diversify, the ability to sense and interact closely with the environment becomes increasingly important. Within this paper we report on the initial flight tests of a novel adaptive…

This paper introduces Borinot, an open-source flying robotic platform designed to perform hybrid agile locomotion and manipulation. This platform features a compact and powerful hexarotor that can be outfitted with torque-actuated…

The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the many degrees of freedom of the robot to accomplish a desired…

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 a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…

This paper introduces Borinot, an open-source aerial robotic platform designed to conduct research on hybrid agile locomotion and manipulation using flight and contacts. This platform features an agile and powerful hexarotor that can be…

Aerial manipulators extend the reach and manipulation capabilities of uncrewed multirotor aerial vehicles for inspection, agriculture, sampling, and delivery. Continuum arm aerial manipulation systems offer lightweight, dexterous, and…

Manipulation and grasping with unmanned aerial vehicles (UAVs) currently require accurate positioning and are often executed at reduced speed to ensure successful grasps. This is due to the fact that typical UAVs can only accommodate rigid…