ESO-based robust and high-precision tracking control for aerial manipulation
This paper studies the tracking control problem of an aerial manipulator that consists of a
quadcopter flying base and a Delta robotic arm. We propose a novel control approach that …
quadcopter flying base and a Delta robotic arm. We propose a novel control approach that …
Physical human-robot interaction with a tethered aerial vehicle: Application to a force-based human guiding problem
Today, physical human-robot interaction (pHRI) is a very popular topic in the field of ground
manipulation. At the same time, aerial physical interaction is also developing very fast …
manipulation. At the same time, aerial physical interaction is also developing very fast …
Design, development and experimental validation of a lightweight dual-arm aerial manipulator with a COG balancing mechanism
In this work, we present the design, fabrication, and experimental validation of a lightweight,
low inertia dual-arm manipulator with a center of gravity (COG) balancing mechanism …
low inertia dual-arm manipulator with a center of gravity (COG) balancing mechanism …
Adaptive NN motion control and predictive coordinate planning for aerial manipulators
H Cao, Y Wu, L Wang - Aerospace Science and Technology, 2022 - Elsevier
The aerial manipulator has attracted great interest since it can interact with the environment
through its end-effector. This paper divides the end-effector position tracking control task for …
through its end-effector. This paper divides the end-effector position tracking control task for …
Aerial regrasping: Pivoting with transformable multilink aerial robot
Regrasping is one of the most common and important manipulation skills used in our daily
life. However, aerial regrasping has not been seriously investigated yet, since most of the …
life. However, aerial regrasping has not been seriously investigated yet, since most of the …
An assistive shared control architecture for a robotic arm using eeg-based bci with motor imagery
The paper presents a shared control architecture for robotic systems commanded through a
motor imagery based Brain-Computer Interface (BCI). The overall system is aimed at …
motor imagery based Brain-Computer Interface (BCI). The overall system is aimed at …
Cooperative underwater vehicle-manipulator operation using redundant resolution method
This paper presents a cooperative manipulation method for a dual-arm underwater vehicle-
manipulator system (UVMS). The objective task is handle valve turning, which is a common …
manipulator system (UVMS). The objective task is handle valve turning, which is a common …
A framework for set-based kinematic control of multi-robot systems
In this paper, a novel control framework for coordinated motion for kinematically redundant
multi-robot systems is developed. The framework embeds both tasks expressed as equality …
multi-robot systems is developed. The framework embeds both tasks expressed as equality …
[HTML][HTML] Multitask control of aerial manipulator robots with dynamic compensation based on numerical methods
CP Carvajal, GM Andaluz, VH Andaluz… - Robotics and …, 2024 - Elsevier
This paper presents a control scheme for aerial manipulators which allows to solve different
motion problems: end-effector position control, end-effector trajectory tracking control and …
motion problems: end-effector position control, end-effector trajectory tracking control and …
Merging global and local planners: real-time replanning algorithm of redundant robots within a task-priority framework
Task-priority inverse kinematics is a popular motion control algorithm which efficiently
handles redundancy in robot manipulators. It has been recently extended in order to handle …
handles redundancy in robot manipulators. It has been recently extended in order to handle …