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07/28/2023
Learning to Open Doors with an Aerial Manipulator
The field of aerial manipulation has seen rapid advances, transitioning ...
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05/03/2023
Design and Control of a Micro Overactuated Aerial Robot with an Origami Delta Manipulator
This work presents the mechanical design and control of a novel small-si...
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07/04/2022
MPC with Learned Residual Dynamics with Application on Omnidirectional MAVs
The growing field of aerial manipulation often relies on fully actuated ...
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06/28/2022
Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces by Proprioceptive and Tactile Sensing
The recent development of novel aerial vehicles capable of physically in...
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05/25/2022
Power-based Safety Layer for Aerial Vehicles in Physical Interaction using Lyapunov Exponents
As the performance of autonomous systems increases, safety concerns aris...
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03/07/2022
Towards 6DoF Bilateral Teleoperation of an Omnidirectional Aerial Vehicle for Aerial Physical Interaction
Bilateral teleoperation offers an intriguing solution towards shared aut...
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03/07/2022
Human-State-Aware Controller for a Tethered Aerial Robot Guiding a Human by Physical Interaction
With the rapid development of Aerial Physical Interaction, the possibili...
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02/14/2022
Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects
Although manipulation capabilities of aerial robots greatly improved in ...
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12/02/2021
Control of over-redundant cooperative manipulation via sampled communication
In this work we consider the problem of mobile robots that need to manip...
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11/30/2021
Coordinated Multi-Robot Trajectory Tracking over Sampled Communication
In this paper, we propose an inverse-kinematics controller for a class o...
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11/04/2021
Modeling and Control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm
Flying manipulators are aerial drones with attached rigid-bodied robotic...
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08/27/2021
Modelling and Estimation of Human Walking Gait for Physical Human-Robot Interaction
An approach to model and estimate human walking kinematics in real-time ...
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01/20/2021
Active Model Learning using Informative Trajectories for Improved Closed-Loop Control on Real Robots
Model-based controllers on real robots require accurate knowledge of the...
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05/14/2020