相关论文: Design, Control, and Motion-Planning for a Root-Pe…

Robot arm placements are oftentimes a limitation in surgical preoperative procedures, relying on trained staff to evaluate and decide on the optimal positions for the arms. Given new and different patient anatomies, it can be challenging to…

Designing aerial robots for specialized tasks, from perching to payload delivery, requires tailoring their aerodynamic shape to specific mission requirements. For tasks involving wide flight envelopes, the usual sequential process of first…

This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…

As platform size is reduced, the flight of aerial robots becomes increasingly energetically expensive. Limitations on payload and endurance of these small robots have prompted researchers to explore the use of bimodal aerial-surface…

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…

This paper presents a novel approach to enhance Model Predictive Control (MPC) for legged robots through Distributed Optimization. Our method focuses on decomposing the robot dynamics into smaller, parallelizable subsystems, and utilizing…

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…

In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference…

Aerial Manipulator Systems (AMS) have garnered significant interest for their utility in aerial operations. Nonetheless, challenges related to the manipulator's limited stiffness and the coupling disturbance with manipulator movement…

Switched Reluctance Motors (SRMs) are cost-effective electric actuators that utilize magnetic reluctance to generate torque, with torque ripple arising from unaccounted manufacturing defects in the rotor tooth geometry. This paper aims to…

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…

This paper concentrates on the development of Chat-PM, a class of composite hybrid aerial/terrestrial manipulator, in concern with composite configuration design, dynamics modeling, motion control and force estimation. Compared with…

Mobile manipulators have been employed in many applications that are traditionally performed by either multiple fixed-base robots or a large robotic system. This capability is enabled by the mobility of the mobile base. However, the mobile…

Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable…

The workspace limits the operational capabilities and range of motion for the systems with robotic arms. Maximizing workspace utilization has the potential to provide more optimal solutions for aerial manipulation tasks, increasing the…

Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aerial robots as a way to save energy, and deformable structure…

As aerial robots gain traction in industrial applications, there is growing interest in enhancing their physical interaction capabilities. Pushing tasks performed by aerial manipulators have been successfully demonstrated in contact-based…

The rapid advancement of high degree-of-freedom (DoF) serial manipulators necessitates the use of swift, sampling-based motion planners for high-dimensional spaces. While sampling-based planners like the Rapidly-Exploring Random Tree (RRT)…

This paper studies the motion planning problem of the pick-and-place of an aerial manipulator that consists of a quadcopter flying base and a Delta arm. We propose a novel partially decoupled motion planning framework to solve this problem.…

In real-world cooperative manipulation of objects, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction wrenches and potentially causing object damage or emergency stops. Existing…