25 citations · 74 across the 10 of their papers we have counts for
12 papers
SPIRIT: Perceptive Shared Autonomy for Robust Robotic Manipulation under Deep Learning Uncertainty
Jongseok Lee, Ribin Balachandran, Harsimran Singh +6
Deep learning (DL) has enabled impressive advances in robotic perception, yet its limited robustness and lack of interpretability hinder reliable deployment in safety critical appl…
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…
Virtual Reality via Object Pose Estimation and Active Learning: Realizing Telepresence Robots with Aerial Manipulation Capabilities
Jongseok Lee, Ribin Balachandran, Konstantin Kondak +6
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device,…
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…
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…
Smoother Position-Drift Compensation for Time Domain Passivity Approach based Teleoperation
Andre Coelho, Harsimran Singh, Tin Muskardin +2
Despite being one of the most robust methods in bilateral teleoperation, Time Domain Passivity Approach (TDPA) presents the drawback of accumulating position drift between master a…
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…
Asynchronous Behavior Trees with Memory aimed at Aerial Vehicles with Redundancy in Flight Controller
Evgenii Safronov, Michael Vilzmann, Dzmitry Tsetserukou +1
Complex aircraft systems are becoming a target for automation. For successful operation, they require both efficient and readable mission execution system. Flight control computer…
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…