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Andre Coelho

8 accepted papers

2023

Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation

Yuri S. Sarkisov, Andre Coelho, Maihara G. Santos, Min Jun Kim, Dzmitry Tsetserukou, Christian Ott +1
ICRA 2023poster

During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against such disturbances because of possible overheating and high power consumption. To o…

Cited by 10Source ↗Scholar ↗
2020

Compliance Control of a Cable-Suspended Aerial Manipulator using Hierarchical Control Framework

Chiara Gabellieri, Yuri S Sarkisov, Andre Coelho, Lucia Pallottino, Konstantin Kondak, Min Jun Kim
IROS 2020poster

Aerial robotic manipulation is an emergent trend that poses several challenges. To overcome some of these, the DLR cable-Suspended Aerial Manipulator (SAM) has been envisioned. SAM is composed of a fully actuated multi-rotor anchored to a main carrier through a cable and a KUKA LWR attached below th…

Cited by 10Source ↗Scholar ↗
2020

Energy-Based Cooperative Control for Landing Fixed-Wing UAVs on Mobile Platforms Under Communication Delays

Tin Muskardin, Andre Coelho, Eduardo Rodrigues Della Noce, Aníbal Ollero, Konstantin Kondak
RA-L 2020

The landing of a fixed-wing UAV on top of a mobile landing platform requires a cooperative control strategy, which is based on relative motion estimates. These estimates typically suffer from communication or processing time delays, which can render an otherwise stable control system unstable. Such

Cited by 14Source ↗Scholar ↗
2020

Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor

Yuri S. Sarkisov, Min Jun Kim, Andre Coelho, Dzmitry Tsetserukou, Christian Ott, Konstantin Kondak
ICRA 2020poster

This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double pendulum, and it can generate a body wrench as a control action. The main challenge is the fact that there is only one onboard IMU sensor which does not provid…

Cited by 24Source ↗Scholar ↗
2020

Proxy-Based Approach for Position Synchronization of Delayed Robot Coupling Without Sacrificing Performance

Harsimran Singh, Michael Panzirsch, Andre Coelho, Christian Ott
RA-L 2020

The application of the position-position architecture for enabling position synchronization of two robotic agents has been proven effective in the fields of telemanipulation and rendezvous of autonomous vehicles. Nevertheless, the approaches presented to this date with the purpose of rendering the p

Cited by 13Source ↗Scholar ↗
2020

Visual-Inertial Telepresence for Aerial Manipulation

Jongseok Lee, Ribin Balachandran, Yuri S. Sarkisov, Marco De Stefano, Andre Coelho, Kashmira Shinde +3
ICRA 2020poster

This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in real-time. We achieve this by utilizing onboard visual and inertia…

Cited by 66Source ↗Scholar ↗
2020

Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator

Andre Coelho, Harsimran Singh, Konstantin Kondak, Christian Ott
ICRA 2020poster

Attaching a robotic manipulator to a flying base allows for significant improvements in the reachability and versatility of manipulation tasks. In order to explore such systems while taking advantage of human capabilities in terms of perception and cognition, bilateral teleoperation arises as a reas…

Cited by 25Source ↗Scholar ↗
2018

Smoother Position-Drift Compensation for Time Domain Passivity Approach Based Teleoperation

Andre Coelho, Harsimran Singh, Tin Muskardin, Ribin Balachandran, Konstantin Kondak
IROS 2018poster

Despite being one of the most robust methods in bilateral teleoperation, Time Domain Passivity Approach (TDPA)presents the drawback of accumulating position drift between master and slave devices. The lack of position synchronization poses an obstacle to the performance of teleoperation and may prev…

Cited by 29Source ↗Scholar ↗