1 citations · 1 across the 3 of their papers we have counts for
4 papers
Differential Flatness and Flatness Inspired Control of Aerial Manipulators based on Lagrangian Reduction
Skylar X. Wei, Peder Harderup, Joel Burdick
This paper shows that the dynamics of a general class of aerial manipulators, consist of an underactuated multi-rotor base with an arbitrary k-linked articulated manipulator, are d…
Quadrotor Trajectory Tracking with Learned Dynamics: Joint Koopman-based Learning of System Models and Function Dictionaries
Carl Folkestad, Skylar X. Wei, Joel W. Burdick
Nonlinear dynamical effects are crucial to the operation of many agile robotic systems. Koopman-based model learning methods can capture these nonlinear dynamical system effects in…
Nonlinear Controllability Assessment of Aerial Manipulator Systems using Lagrangian Reduction
Skylar X. Wei, Matthew R. Burkhardt, Joel Burdick
This paper analyzes the nonlinear Small-Time Local Controllability (STLC) of a class of underatuated aerial manipulator robots. We apply methods of Lagrangian reduction to obtain t…
Motivations and Preliminary Design for Mid-Air Deployment of a Science Rotorcraft on Mars
Jeff Delaune, Jacob Izraelevitz, Larry A. Young +18
Mid-Air Deployment (MAD) of a rotorcraft during Entry, Descent and Landing (EDL) on Mars eliminates the need to carry a propulsion or airbag landing system. This reduces the total…