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Publications
Publications (16)
The manipulation of large objects by robotic systems is a challenge for applications in the construction industry, industrial decommissioning, and urban search and rescue (USAR). These are associated with dangerous environments and thus motivate devising robotic solutions to replace human presence. Furthermore, they often require manipulation of lo...
We propose novel haptic tele-driving control frameworks of a wheeled mobile robot (WMR) over the imperfect Internet communication network with varying delay and packet loss. We consider both the dynamic and kinematic WMRs and their various tele-driving modes. By utilizing passive set-position modulation framework, we can guarantee two-port passivit...
We present a tutorial introduction to the multi-rotor unmanned aerial vehicles, often simply referred as drones. We first explain typical configuration, components and construction of the drones. We then provide basic kinematic and dynamic modeling of drones and their principle of flight. Some representative motion control techniques are then prese...
GPS-IMU based sensor fusion is widely used for autonomous flying, which yet suffers from the inaccuracy and drift of the GPS signal and also the failure with the loss of GPS (e.g., indoor flying). To circumvent this issue, in this paper, we propose a new framework for camera-GPS-IMU sensor fusion, which, by fusing monocular camera information with...
We propose an hierarchical control framework for multiple cooperative quadrotor-manipulator systems, which allows us to endow the common grasped object with a user-specified desired behavior (e.g., trajectory tracking, compliant interaction, etc.). To achieve this, our control framework consists of the following hierarchical layers: 1) object desir...
We show That The Lagrange dynamics of quadrotor-manipulator systems can be completely decoupled into: 1) The center-of-mass dynamics in E(3), which, similar To The standard quadrotor dynamics, is point-mass dynamics with under-Actuation and gravity effect; and 2) The 'internal rotational' dynamics of The quadrotor's rotation and manipulator configu...
We propose controller for quadrotor with arm system. Quadrotor is underactuated which makes control problem difficult. Attached manipulator makes system dynamics complicate. To control end-effector position, we used passive decomposition and it provides decomposed dynamics. Using decomposed dynamics, we proposed backstepping-like controller to cont...
We present a novel cooperative grasping control framework for multiple kinematic nonholonomic mobile manipulators, which enables them to drive the grasped object with velocity commands, while rigidly maintaining the grasping shape with no dedicated grasp-enforcing fixtures and also avoiding obstacles either via their whole formation maneuver or int...