相关论文: Manipulation of Elasto-Flexible Cables with Single…
This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full control of the co-carrying trajectories by the person while…
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…
In rotary-wing aircraft, rotating blades are exposed to collisions and subsequent damage. The detection and isolation of blade damage constitute the first step in fault mitigation; however, they are particularly challenging when…
Achieving cooperative transportation by aerial robot teams ensures flexibility regarding payloads and robustness against failures, which has garnered significant attention in recent years. This study proposes a flexible decentralized…
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…
In this paper a decentralized control algorithm for systems composed of $N$ dynamically decoupled agents, coupled by feasibility constraints, is presented. The control problem is divided into $N$ optimal control sub-problems and a…
Aerial transportation using quadrotors with cable-suspended payloads holds great potential for applications in disaster response, logistics, and infrastructure maintenance. However, their hybrid and underactuated dynamics pose significant…
In the paper "Control Design for UAV Quadrotors via Embedded Model Control" [1], the authors designed a complete control unit for a UAV Quadrotor, based on the Embedded Model Control (EMC) methodology, in combination with the Feedback…
Continuum robots, inspired by octopus arms and elephant trunks, combine dexterity with intrinsic compliance, making them well suited for unstructured and confined environments. Yet their continuously deformable morphology poses challenges…
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…
We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers. We have investigated some instances of such class, some of…
This paper presents a new teleoperated spherical tensegrity robot capable of performing locomotion on steep inclined surfaces. With a novel control scheme centered around the simultaneous actuation of multiple cables, the robot demonstrates…
We explore a system comprising two oscillators that are coupled to an open channel at distinct locations. The coupling nature can be adjusted to be coherent, dissipative, or a combination of both, controlled by a tunable phase resulting…
Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…
Aerial manipulators are composed of an aerial multi-rotor that is equipped with a 6-DOF servo robot arm. To achieve precise position and attitude control during the arm's motion, it is critical for the system to have high performance…
Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance…
This paper proposes a novel modelling approach for a heavy-duty manipulator with parallel$-$serial structures connected in series. Each considered parallel$-$serial structure contains a revolute segment with rigid links connected by a…
This paper investigates the semantic communication and cooperative tracking control for an UAV swarm comprising a leader UAV and a group of follower UAVs, all interconnected via unreliable wireless multiple-input-multiple-output (MIMO)…
We present a mechanism to explicitly couple the finite-difference discretizations of 2D acoustic and isotropic elastic wave systems that are separated by straight interfaces. Such coupled simulations allow the application of the elastic…