9 accepted papers
Due to the multi-node and multi-contact motion characteristics of tensegrity robots, existing methods fail to generate feasible reference rolling trajectories, and controllers are also limited to open-loop approaches. To address this issue, we utilize motion decomposition to extract the motion phase…
Existing planners commonly rely on cell-based environment representation approaches, which oversimplify the geometry and face the challenges of low spatial resolution and high maintenance costs. Inspired by cloth simulation techniques, we propose a novel environment representation method called Clot
Morphing quadrotors are capable of adapting to constrained environments through geometric reconfiguration. However, existing systems are limited by mechanical complexity and rigid links, which affect both safety and performance in such environments. In this paper, we propose a strut-actuated tensegr
Existing tensegrity robot modeling predominantly relies on cable length as the primary control input, making it intractable for implementation on motor-driven physical systems. In addition, the current models lack precise formulations for intricate environmental interactions, such as ground contact
Task-oriented training with haptic rendering can boost robot-aided motor learning to tasks with similar dynamics. Although multi-DOF robots better match the rendering of real task scenarios, single-DOF haptic robots show great potential for home use with enhanced task rendering performance. This stu…
In many applications such as aerial transportation, delivery, and manipulation, it is essential to know the external wrench exerted on multirotor aerial vehicles precisely. This paper presents an algorithm to estimate external wrench using a rotor speed measurement unit, an inertial measurement unit…
This paper studies the problem of topology design and leader selection to activate affine formation control schemes. The <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">affine formation control</i> enjoys a distinguishing feature from other control m
In aerial cooperative transportation missions, it has been recognized that for small-sized but heavy payloads, the cable-suspended framework is a preferred manner. However, to maintain proper safe flight distances, cables always stay inclined, which implies that horizontal force components have to b…
In this work, we consider a cooperative system in which UAVs perform long-distance missions with assistance of unmanned ground vehicles (UGVs) for battery charging. We propose an autonomous landing scheme for the UAV to land on a mobile UGV with high precision by leveraging multiple-scale Quick Resp