Chengzhe Han — accepted AI-conference papers

2024

Chat-PM: A Class of Composite Hybrid Aerial/Terrestrial Precise Manipulator

Yihang Ding, Xiaoyu Ji, Lixian Zhang, Yimin Zhu, Yifei Dong, Tong Wu +2

RA-L 2024

This letter concentrates on the development of Chat-PM, a class of composite hybrid aerial/terrestrial manipulator, in concern with composite configuration design, dynamics modeling, motion control and force estimation. Compared with existing aerial or terrestrial mobile manipulators, Chat-PM demons

Cited by 7 Source ↗Scholar ↗

2023

Grasping Lightweight Objects With Chat-PM: A Rotorwash-Aware Motion Planning Method

Lixian Zhang, Chengzhe Han, Yimin Zhu, Yifei Dong, Xiaoyu Ji, Zhenting Zhao +1

RA-L 2023

Grasping lightweight objects with aerial manipulators remains challenging due to the rotorwash interference caused by spinning rotor blades. This letter details a rotorwash-aware motion planning method for Chat-PM, a hybrid aerial-terrestrial vehicle equipped with a robotic arm. With proposed method

Cited by 8 Source ↗Scholar ↗