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05/25/2023
Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation
During operation, aerial manipulation systems are affected by various di...
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03/03/2023
EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems
This paper proposes a Nonlinear Model-Predictive Control (NMPC) method c...
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03/01/2020
Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor
This paper presents a design of oscillation damping control for the cabl...
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01/29/2020
Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator
Attaching a robotic manipulator to a flying base allows for significant ...
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09/04/2019
Multi-DoF Time Domain Passivity Approach based Drift Compensation for Telemanipulation
When, in addition to stability, position synchronization is also desired...
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07/01/2019
Model-free Friction Observers for Flexible Joint Robots with Torque Measurements
This paper tackles a friction compensation problem without using a frict...
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04/18/2019
A Passivity-based Nonlinear Admittance Control with Application to Powered Upper-limb Control under Unknown Environmental Interactions
This paper presents an admittance controller based on the passivity theo...
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03/18/2019
A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements
In this paper, we design a nonlinear observer to estimate the inertial p...
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03/06/2019
Development of SAM: cable-Suspended Aerial Manipulator
High risk of a collision between rotor blades and the obstacles in a com...
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09/24/2018
Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses
This paper presents an approach to damp out the oscillatory motion of th...
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08/09/2018