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Yuri S. Sarkisov

6 accepted papers

2023

Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation

Yuri S. Sarkisov, Andre Coelho, Maihara G. Santos, Min Jun Kim, Dzmitry Tsetserukou, Christian Ott +1
ICRA 2023poster

During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against such disturbances because of possible overheating and high power consumption. To o…

Cited by 10Source ↗Scholar ↗
2020

Compliance Control of a Cable-Suspended Aerial Manipulator using Hierarchical Control Framework

Chiara Gabellieri, Yuri S Sarkisov, Andre Coelho, Lucia Pallottino, Konstantin Kondak, Min Jun Kim
IROS 2020poster

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…

Cited by 10Source ↗Scholar ↗
2020

Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor

Yuri S. Sarkisov, Min Jun Kim, Andre Coelho, Dzmitry Tsetserukou, Christian Ott, Konstantin Kondak
ICRA 2020poster

This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double pendulum, and it can generate a body wrench as a control action. The main challenge is the fact that there is only one onboard IMU sensor which does not provid…

Cited by 24Source ↗Scholar ↗
2020

Visual-Inertial Telepresence for Aerial Manipulation

Jongseok Lee, Ribin Balachandran, Yuri S. Sarkisov, Marco De Stefano, Andre Coelho, Kashmira Shinde +3
ICRA 2020poster

This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in real-time. We achieve this by utilizing onboard visual and inertia…

Cited by 66Source ↗Scholar ↗
2019

Development of SAM: cable-Suspended Aerial Manipulator

Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi +1
ICRA 2019poster

High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this paper. Instead of attaching a robotic manipulator directly to an…

Cited by 83Source ↗Scholar ↗
2018

DroneGear: A Novel Robotic Landing Gear With Embedded Optical Torque Sensors for Safe Multicopter Landing on an Uneven Surface

Yuri S. Sarkisov, Grigoriy A. Yashin, Evgeny V. Tsykunov, Dzmitry Tsetserukou
RA-L 2018

One of the most serious disadvantages of the vertical takeoff and landing flying robots including multicopters is the necessity of the flat stable area for safe landing. The ability to land and takeoff from uneven surfaces and moving basements would help the rotorcrafts in many important application

Cited by 44Source ↗Scholar ↗