9 accepted papers
This paper presents a framework for aerial manipulation of an extensible cable that combines a high-fidelity model based on partial differential equations (PDEs) with a reduced-order representation suitable for real-time control. The PDEs are discretized using a finite-difference method, and proper …
This paper introduces a novel approach for controlling aerial robots during physical interaction by integrating Admittance Control with Nonlinear Model Predictive Control (NMPC). Unlike existing methods, our technique incorporates the desired impedance dynamics directly into the NMPC prediction mode…
This work considers a large class of systems composed of multiple quadrotors manipulating deformable and extensible cables. The cable is described via a discretized representation, which decomposes it into linear springs interconnected through lumped-mass passive spherical joints. Sets of flat outpu
This paper introduces a novel approach for controlling aerial robots during physical interaction by integrating Admittance Control with Nonlinear Model Predictive Control (NMPC). Unlike existing methods, our technique incorporates the desired impedance dynamics directly into the NMPC prediction mode
Formation control of multi-robot systems has been largely studied due to its wide application domain. Several methods in the literature rely on explicit communication among the robots, which in realistic scenarios may lead to reduced performance or even instability due to delays and packet loss or c…
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…
This work proposes a method to grasp unknown objects with robotic hands based on demonstrations by a skilled human operator. Not only are humans efficacious at grasping with their own hands but are also capable of grasping objects using robotic hands. Therefore, we consider how the grasping skills o
Warehouse logistics is a rapidly growing market for robots. However, one key procedure that has not received much attention is the unwrapping of pallets to prepare them for objects picking. In fact, to prevent the goods from falling and to protect them, pallets are normally wrapped in plastic when t
This letter considers the cooperative manipulation of a cable-suspended load with two generic aerial robots without the need of explicit communication. The role of the internal force for the asymptotic stability of the beam position-and-attitude equilibria is analyzed in depth. Using a nonlinear Lya