6 accepted papers
In this paper, we present a novel trajectory planning method for externally-actuated modular manipulators (EAMMs), consisting of multiple rotor-actuated links with joints that can be either locked or unlocked. This joint-locking feature allows effective balancing of the payload capacity and dexterit…
The RVM (Robot-based Vibration Suppression Modules) is proposed for the manipulation and transport of a large flexible object. Since the RVM is easily attachable/detachable to the object, this RVM allows distributing over the manipulated object so that it is scalable to the object size. The composit…
In this paper, we propose a novel sim-to-real framework to solve bolting tasks with tight tolerance and complex contact geometry which are hard to be modeled. The sim-to-real has desirable features in terms of cost and safety, however, that of the assembly task is rare due to the lack of simulator,…
Electrical motor and hydraulic actuation widely-used in robotics are “internal actuation” with their actuators sitting at the joint between two links. This internal actuation is fundamentally limiting to construct a large-size dexterously-articulated robot, since any external force (and its own link…
The MAGMaS (Multiple Aerial-Ground Manipulator System) was proposed in [1] as a heterogeneous system composed of multiple ground (mobile) manipulators and aerial robots to collaboratively manipulate a long/large-sized object and demonstrated therein for rigid load manipulation. Here, we extend this…
We propose an hierarchical control framework for multiple cooperative quadrotor-manipulator systems, which allows us to endow the common grasped object with a user-specified desired behavior (e.g., trajectory tracking, compliant interaction, etc.). To achieve this, our control framework consists of…