7 papers · 1 filter
Safety-Critical Bilateral Teleoperation for Omnidirectional Aerial Manipulation Using Force-Sensorless Haptic Feedback
Yubin Kim, Jinwoo Lee, Yongjun You +2
This paper presents a safety-critical bilateral teleoperation framework for omnidirectional aerial manipulators that integrates visual and force-sensorless haptic wrench feedback.…
Whole-body motion planning and safety-critical control for aerial manipulation
Lin Yang, Jinwoo Lee, Domenico Campolo +2
Aerial manipulation combines the maneuverability of multirotors with the dexterity of robotic arms to perform complex tasks in cluttered spaces. Yet planning safe, dynamically feas…
Geometric Backstepping Control of Omnidirectional Tiltrotors Incorporating Servo-Rotor Dynamics for Robustness against Sudden Disturbances
Jaewoo Lee, Dongjae Lee, Jinwoo Lee +3
This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuat…
Safety-Critical Control for Aerial Physical Interaction in Uncertain Environment
Jeonghyun Byun, Yeonjoon Kim, Dongjae Lee +1
Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-bas…
Haptic-Based Bilateral Teleoperation of Aerial Manipulator for Extracting Wedged Object with Compensation of Human Reaction Time
Jeonghyun Byun, Dohyun Eom, H. Jin Kim
Bilateral teleoperation of an aerial manipulator facilitates the execution of industrial missions thanks to the combination of the aerial platform's maneuverability and the ability…
Saturated RISE control for considering rotor thrust saturation of fully actuated multirotor
Dongjae Lee, H. Jin Kim
This work proposes a saturated robust controller for a fully actuated multirotor that takes disturbance rejection and rotor thrust saturation into account. A disturbance rejection…
Autonomous aerial perching and unperching using omnidirectional tiltrotor and switching controller
Dongjae Lee, Sunwoo Hwang, Jeonghyun Byun +2
Aerial unperching of multirotors has received little attention as opposed to perching that has been investigated to elongate operation time. This study presents a new aerial robot…