23 citations · 58 across the 10 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…
EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems
Andre Coelho, Alin Albu-Schaeffer, Arne Sachtler +4
This paper proposes a Nonlinear Model-Predictive Control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action t…
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…
Whole-Body Bilateral Teleoperation of a Redundant Aerial Manipulator
Andre Coelho, Harsimran Singh, Konstantin Kondak +1
Attaching a robotic manipulator to a flying base allows for significant improvements in the reachability and versatility of manipulation tasks. In order to explore such systems whi…
Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation
Andre Coelho, Christian Ott, Harsimran Singh +2
When, in addition to stability, position synchronization is also desired in bilateral teleoperation, Time Domain Passivity Approach (TDPA) alone might not be able to fulfill the de…
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…