8 citations · 18 across the 8 of their papers we have counts for
11 papers
Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation
Yuri Sarkisov, Andre Coelho, Maihara Santos +4
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-b…
Passivity-based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators
Jinyeong Jeong, Min Jun Kim
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…
Proprioceptive Sensor-Based Simultaneous Multi-Contact Point Localization and Force Identification for Robotic Arms
Seo Wook Han, Min Jun Kim
In this paper, we propose an algorithm that estimates contact point and force simultaneously. We consider a collaborative robot equipped with proprioceptive sensors, in particular,…
A Reachability Tree-Based Algorithm for Robot Task and Motion Planning
Kanghyun Kim, Daehyung Park, Min Jun Kim
This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and…
Visual-Inertial Telepresence for Aerial Manipulation
Jongseok Lee, Ribin Balachandran, Yuri S. Sarkisov +6
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…
Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor
Yuri S. Sarkisov, Min Jun Kim, Andre Coelho +3
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 wr…
Model-free Friction Observers for Flexible Joint Robots with Torque Measurements
Min Jun Kim, Fabian Beck, Christian Ott +1
This paper tackles a friction compensation problem without using a friction model. The unique feature of the proposed friction observer is that the nominal motor-side signal is fed…
A Passivity-based Nonlinear Admittance Control with Application to Powered Upper-limb Control under Unknown Environmental Interactions
Min Jun Kim, Woongyong Lee, Jae Yeon Choi +5
This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot which is governed by the nonlinear equation of motion. Passivi…
Development of SAM: cable-Suspended Aerial Manipulator
Yuri S. Sarkisov, Min Jun Kim, Davide Bicego +4
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-…
Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses
Min Jun Kim, Jianjie Lin, Konstantin Kondak +2
This paper presents an approach to damp out the oscillatory motion of the pendulum-like hanging platform on which a robotic manipulator is mounted. To this end, moving masses were…
Passive Compliance Control of Aerial Manipulators
Min Jun Kim, Ribin Balachandran, Marco De Stefano +2
This paper presents a passive compliance control for aerial manipulators to achieve stable environmental interactions. The main challenge is the absence of actuation along body-pla…