相关论文: A Suspended Aerial Manipulation Avatar for Physica…
This paper presents a static-equilibrium oriented interaction force modeling and control approach of aerial manipulation employing uni-directional thrust (UDT) multirotors interacting with variously defined environments. First, a simplified…
Metaverse is an immersive shared space that remote users can access through virtual and augmented reality interfaces, enabling their avatars to interact with each other and the surrounding. Although digital objects can be manipulated,…
While autonomous Uncrewed Aerial Vehicles (UAVs) have grown rapidly, most applications only focus on passive visual tasks. Aerial interaction aims to execute tasks involving physical interactions, which offers a way to assist humans in…
Problems associated with physical interactions using aerial mobile manipulators (AMM) are being independently addressed with respect to mobility and manipulability. Multirotor unmanned aerial vehicles (UAV) are a common choice for mobility…
Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics. The rigid nature of these arms often lack compliance, flexibility, and smoothness…
Robotic manipulation in unstructured environments requires end-effectors that combine high kinematic dexterity with physical compliance. While traditional rigid hands rely on complex external sensors for safe interaction, electrohydraulic…
Low-cost autonomous Micro Aerial Vehicles (MAVs) have the potential to help humans by simplifying and speeding up complex tasks that require their interaction with the environment, such as construction, package delivery, and search and…
This paper presents the first design of a soft, 3D-printed in flexible filament, lightweight UAV, capable of performing full-body perching using soft tendons, specifically landing and stabilizing on pipelines and irregular surfaces without…
Human drone interaction in autonomous navigation incorporates spatial interaction tasks, including reconstructed 3D map from the drone and human desired target position. Augmented Reality (AR) devices can be powerful interactive tools for…
A drawing robot avatar is a robotic system that allows for telepresence-based drawing, enabling users to remotely control a robotic arm and create drawings in real-time from a remote location. The proposed control framework aims to improve…
Flapping-wing drones have attracted significant attention due to their biomimetic flight. They are considered more human-friendly due to their characteristics such as low noise and flexible wings, making them suitable for human-drone…
Today, physical Human-Robot Interaction (pHRI) is a very popular topic in the field of ground manipulation. At the same time, Aerial Physical Interaction (APhI) is also developing very fast. Nevertheless, pHRI with aerial vehicles has not…
Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the…
Aerial robots are evolving from avoiding obstacles to exploiting the environmental contact interactions for navigation, exploration and manipulation. A key challenge in such aerial physical interactions lies in handling uncertain contact…
Performing rescuing and surveillance operations with autonomous ground and aerial vehicles become more and more apparent task. Involving unmanned robot systems allows making these operations more efficient, safe and reliable especially in…
Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction. This paper presents a novel haptic shared…
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…
Aerial manipulation aims at combining the manoeuvrability of aerial vehicles with the manipulation capabilities of robotic arms. This, however, comes at the cost of the additional control complexity due to the coupling of the dynamics of…
This work presents an actuation framework for a bioinspired flapping drone called Aerobat. This drone, capable of producing dynamically versatile wing conformations, possesses 14 body joints and is tail-less. Therefore, in our robot, unlike…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…