Yao Su

Beijing Institute for General Artificial Intelligence

This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is shaped as a regular icositetragon with a permanent magnet installed on each corner for stable docking. After aggreg...

The performance of over-actuated Unmanned Aerial Vehicles (UAVs) is significantly influenced by aerodynamic effects, as they are subject to different airflow conditions. For those aerodynamic effects that are difficult to model but could occur repeatedly, Iterative Learning Control (ILC) has great potential to improve the system performance by lear...

This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is shaped as a regular icositetragon with a permanent magnet installed on each corner for stable docking. After aggreg...

GelSight sensors that estimate contact geometry and force by reconstructing the deformation of their soft elastomer from images would yield poor force measurements when the elastomer deforms uniformly or reaches deformation saturation. Here we present an L $^{3}$ F-TOUCH sensor that considerably enhances the three-axis force sensing capability of...

We investigate the sequential manipulation planning problem for unmanned aerial manipulators (UAMs). Unlike prior UAM work that primarily focuses on one-step manipulation tasks, sequential manipulations require coordinated motions of the floating base, the manipulator, and the object being manipulated, entailing a unified kinematics and dynamics mo...

We investigate the sequential manipulation planning problem for unmanned aerial manipulators (UAMs). Unlike prior UAM work that primarily focuses on one-step manipulation tasks, sequential manipulations require coordinated motions of the floating base, the manipulator, and the object being manipulated, entailing a unified kinematics and dynamics mo...

Propeller failure is a major cause of multirotor Unmanned Aerial Vehicles (UAVs) crashes. While conventional multirotor systems struggle to address this issue due to un- deractuation, over-actuated platforms can continue flying with appropriate fault-tolerant control (FTC). This paper presents a robust FTC controller for an over-actuated UAV platfo...

Target tracking with a mobile robot has numerous significant applications in both civilian and military. Practical challenges such as limited field-of-view, obstacle occlusion, and system uncertainty may all adversely affect tracking performance, yet few existing works can simultaneously tackle these limitations. To bridge the gap, we introduce the...

Propeller failure is one major reason for the falling and crashing of multirotor Unmanned Aerial Vehicles (UAVs). While conventional multirotors can barely handle this issue due to underactuation, over-actuated platforms can still pursue the flight with proper fault-tolerant control (FTC). This paper investigates such a controller for one such over...

This paper presents the control and experiments of a novel multirotor aerial platform, which is capable of full actuation for six Degree of Freedom (DoF) motions. The platform is actuated by a number of tilting-thrust modules, each consisting of a regular quadcopter and a mechanically passive hinge. The platform in this paper has four such actuator...

This paper presents the control and experiment of a novel multirotor aerial platform, which is capable of full actuation for six Degree of Freedom (DoF) motions. The platform is actuated by a number of tilting-thrust modules, each consisting of a regular quadcopter and a mechanically passive hinge. The platform in this paper has four such actuator...

Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing unde- sired downwash effects; downwash flows generated by thrust generators may counteract others due to close proximity, which significantly threatens the stability of the platform. The complexi...

Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing undesired downwash effects; downwash flows generated by thrust generators may counteract others due to close proximity, which significantly threatens the stability of the platform. The complexity...

We devise a cooperative planning framework to generate optimal trajectories for a robot duo tethered by a flexible net to gather scattered objects spread in a large area. Specifically, the proposed planning framework first produces a set of dense waypoints for each robot, serving as the initialization for optimization. Next, we formulate an iterati...

Overactuated multirotor unmanned aerial vehicles (UAVs) usually consist of multiple tiltable thrust actuators. The controllers are mostly designed by regarding the thrust forces and actuator tilting angles as inputs of outer-loop position and attitude controllers, while formulating an inner-loop controller for each actuator to track the thrust and...

We devise a cooperative planning framework to generate optimal trajectories for a tethered robot duo, who is tasked to gather scattered objects spread in a large area using a flexible net. Specifically, the proposed planning framework first produces a set of dense waypoints for each robot, serving as the initialization for optimization. Next, we fo...

Overactuated multirotor unmanned aerial vehicles (UAVs) usually consist of multiple tiltable thrust actuators. The controllers are mostly designed by regarding the thrust forces and actuator tilting angles as inputs of outer-loop position and attitude controllers, while formulating an inner-loop controller for each actuator to track the thrust and...

Multirotor copters with full six Degree of Free-dom(DoF) maneuvering are often overactuated. The control allocation of overactuated UAV platforms can have an infinite number of solutions due to their redundancy. The most common allocation framework is based on Force Decomposition(FD), which provides a robust least-square solution and is easy to imp...

Conventional multirotors have coupling between position and attitude control due to underactuation in dynamics, and thus can not track six degree-of-freedom (DoF) trajectories in space. Previous works proposed fully actuated multirotors with modifications to mechanical structure to provide varying orientations of thrust forces without changing the...

Multirotor copters with full six Degree of Freedom (DoF) maneuvering are often overactuated. The control allocation of overactuated UAV platforms can have an infinite number of solutions due to their redundancy. The most common allocation framework is based on Force Decomposition (FD), which provides a robust least-square solution and is easy to im...

Fully-actuated multi-rotor aerial platforms are receiving increasing research interests for the capability of six degree-of-freedom (DOF) motions such as hovering at non-horizontal attitude angles. Existing real world hardware and experiments have demonstrated such capability for a limited range of angles. This paper presents an aerial platform tha...

Multirotor copters with full six DoF maneuvering are often overactuated with redundancy. By having redundant actuation, the multirotors can have better fault-tolerance, energy-efficiency, and payload carrying capability. And they can have an infinite number of solutions when doing control allocation due to their redundancy. However, how to take ful...

Overhead manipulation often needs collaboration of two operators, which is challenging in confined space such as in a compartment or on a ladder. Supernumerary Robotic Limb (SuperLimb), as a promising wearable robotics solution for overhead tasks, can provide optimal assistance in terms of broader workspace, diverse manipulation functionalities, an...

Robust Bipedal Locomotion Based on a Hierarchical Control Structure – CORRIGENDUM - Jianwen Luo, Yao Su, Lecheng Ruan, Ye Zhao, Donghyun Kim, Luis Sentis, Chenglong Fu

To improve biped locomotion's robustness to internal and external disturbances, this study proposes a hierarchical structure with three control levels. At the high level, a foothold sequence is generated so that the Center of Mass (CoM) trajectory tracks a planned path. The planning procedure is simplified by selecting the midpoint between two cons...