Jinyeong Jeong — accepted AI-conference papers

2023

Passivity-based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators

ICRA 2023poster

This paper proposes a decentralized passive impedance control scheme for collaborative grasping using under-actuated aerial manipulators (AMs). The AM system is formulated, using a proper coordinate transformation, as an inertially decoupled dynamics with which a passivity-based control design is co…

Cited by 7 Source ↗Scholar ↗

2022

A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function

Jinyeong Jeong, Hrishik Mishra, Christian Ott, Min Jun Kim

ICRA 2022poster

This paper proposes a parameterization method to represent SO (3) over multiple turns. This method is called a memory-based parameterization, because the idea is to integrate the past trajectory of exponential coordinates. The parameterization is consistent in the sense that the true rotation matrix…

Cited by 8 Source ↗Scholar ↗