6 papers · 1 filter
A Signal Temporal Logic Planner for Ergonomic Human-Robot Collaboration
Giuseppe Silano, Amr Afifi, Martin Saska +1
This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Sign…
Ergonomic Collaboration between Humans and Robots: An Energy-Aware Signal Temporal Logic Perspective
Giuseppe Silano, Amr Afifi, Martin Saska +1
This paper presents a method for designing energy-aware collaboration tasks between humans and robots, and generating corresponding trajectories to carry out those tasks. The metho…
Modelling, Analysis and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV
Youssef Aboudorra, Chiara Gabellieri, Ralph Brantjes +2
This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing a…
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…
Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs
Davide Bicego, Jacopo Mazzetto, Ruggero Carli +2
In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented…
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-…