Dafang Yu

2 accepted papers

2023

Aerial Shooting Manipulator for Distant Grasping

Mengxin Xu, Siyuan Huang, Ruokun He, Dafang Yu, Hesheng Wang

RA-L 2023

In this letter, the first prototype of an aerial shooting manipulator (ASM) powered by air pressure is proposed for distant grasping. The design of the ASM is described in detail, which is combined by a multirotor and a shooting manipulator including a pulse force generator, a retracting device and

Cited by 12 Source ↗Scholar ↗

2023

Lyapunov Constrained Safe Reinforcement Learning for Multicopter Visual Servoing

Dafang Yu, Mengxin Xu, Zhe Liu, Hesheng Wang

IROS 2023poster

Traditional methods based on Lyapunov analysis and learning-based approaches such as reinforcement learning (RL) are two powerful tools in visual servo tasks. Traditional methods are interpretable and their stability can be guar-anteed by Lyapunov analysis. However, they tend to have a high dependen…

Cited by 0 Source ↗Scholar ↗