相关论文: Multi-robot Aerial Soft Manipulator For Floating L…
In this paper, we present the design, simulation and experimental validation of a control architecture for a flying hand, i.e., a system made of an unmanned aerial vehicle, a robotic manipulator and a gripper, which is grasping an object…
Exploration of extreme environments, including caves, canyons and cliffs on low-gravity surfaces such as the Moon, Mars and asteroids can provide insight into the geological history of the solar system, origins of water, life and prospect…
Scrubbing surfaces is a physically demanding and time-intensive task. Removing adhered contamination requires substantial friction generated through pressure and torque or high lateral forces. Rigid robotic manipulators, while capable of…
Individualized manufacturing of cars requires kitting: the collection of individual sets of part variants for each car. This challenging logistic task is frequently performed manually by warehouseman. We propose a mobile manipulation…
In recent years, multimodal locomotion capabilities have enabled robots to maneuver in both terrestrial and aerial domains. However, most of these robots are designed only for locomotion, and few possess the manipulation capabilities…
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 article, a novel combined aerial cooperative tethered carrying and path planning framework is introduced with a special focus on applications in confined environments. The proposed work is aiming towards solving the path planning…
Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission…
This work contributes a marsupial robotic system-of-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the heterogeneous properties of the two systems and the ability…
Coral reefs are under increasing threat from the impacts of climate change. Whilst current restoration approaches are effective, they require significant human involvement and equipment, and have limited deployment scale. Harvesting wild…
Innovative ideas are continuously emerging to produce better life conditions where essential human needs are supposed to be fulfilled with perfect scenarios leading us to propose modern strategies drawing the future of smart cities. In this…
Pneumatically operated soft growing robots that extend via tip eversion are well-suited for navigation in confined spaces. Adding the ability to interact with the environment using sensors and tools attached to the robot tip would greatly…
Learning contact-rich, robotic manipulation skills is a challenging problem due to the high-dimensionality of the state and action space as well as uncertainty from noisy sensors and inaccurate motor control. To combat these factors and…
This paper presents aims at mobility improvement of flexible underwater robots. For this purpose, a novel propulsion method using planar structural vibration pattern is proposed, and tested on two kinds of prototypes. The result of…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…
This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…
This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…
Robotic manipulation of fresh fruits and vegetables, including the grasping of multiple loose items, has a strong industrial need but it still is a challenging task for robotic manipulation. This paper outlines the distinctive manipulation…
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…
This paper presents the perception system of a new professional cleaning robot for large public places. The proposed system is based on multiple sensors including 3D and 2D lidar, two RGB-D cameras and a stereo camera. The two lidars…