12 citations · 21 across the 13 of their papers we have counts for
13 papers · 1 filter
Constraint-Aware Physics-Informed Neural Networks for Static Shape Estimation of Co-Manipulative Continuum Robots
Rana Danesh, Pari Qarehdaghi, Farrokh Janabi-Sharifi
Static shape estimation of co-manipulative continuum robots (CCRs) is challenging because the continuum arms and manipulated flexible object form a closed chain that must satisfy b…
Active Stiffness Control of a Supportive Continuum Robot
Rana Danesh, Farrokh Janabi-Sharifi, Farhad Aghili
Supportive continuum robots (SCRs) enhance the load-bearing capability of an operative continuum robot by mechanically coupling it with a supportive arm. However, their passive sti…
Evidence-Based Landing Site Selection and Vison-Based Landing for UAVs in Unstructured Environments
Sina Sajjadi, Jacopo Panerati, Sina Soleymanpour +3
Autonomous landing in cluttered or unstructured environments remains a safety-critical challenge for unmanned aerial vehicles (UAVs), particularly under noisy perception caused by…
AI-Enabled Image-Based Hybrid Vision/Force Control of Tendon-Driven Aerial Continuum Manipulators
Shayan Sepahvand, Farrokh Janabi-Sharifi, Farhad Aghili
This paper presents an AI-enabled cascaded hybrid vision/force control framework for tendon-driven aerial continuum manipulators based on constant-strain modeling in as a c…
Real-Time Projected Adaptive Control for Closed-Chain Co-Manipulative Continuum Robots
Rana Danesh, Farrokh Janabi-Sharifi, Farhad Aghili
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-…
Strain-Parameterized Coupled Dynamics and Dual-Camera Visual Servoing for Aerial Continuum Manipulators
Niloufar Amiri, Farrokh Janabi-Sharifi
Tendon-driven aerial continuum manipulators (TD-ACMs) combine the maneuverability of uncrewed aerial vehicles (UAVs) with the compliance of lightweight continuum robots (CRs). Exis…
Systematic Analysis of Coupling Effects on Closed-Loop and Open-Loop Performance in Aerial Continuum Manipulators
Niloufar Amiri, Shayan Sepahvand, Iraj Mantegh +1
This paper investigates two distinct approaches to the dynamic modeling of aerial continuum manipulators (ACMs): the decoupled and the coupled formulations. Both open-loop and clos…
Correlation-Aware Dual-View Pose and Velocity Estimation for Dynamic Robotic Manipulation
Mahboubeh Zarei, Robin Chhabra, Farrokh Janabi-Sharifi
Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to impro…
Deep Visual Servoing of an Aerial Robot Using Keypoint Feature Extraction
Shayan Sepahvand, Niloufar Amiri, Farrokh Janabi-Sharifi
The problem of image-based visual servoing (IBVS) of an aerial robot using deep-learning-based keypoint detection is addressed in this article. A monocular RGB camera mounted on th…
Hybrid Visual Servoing of Tendon-driven Continuum Robots
Rana Danesh, Farrokh Janabi-Sharifi, Farhad Aghili
This paper introduces a novel Hybrid Visual Servoing (HVS) approach for controlling tendon-driven continuum robots (TDCRs). The HVS system combines Image-Based Visual Servoing (IBV…
Backstepping Control of Tendon-Driven Continuum Robots in Large Deflections Using the Cosserat Rod Model
Rana Danesh, Farrokh Janabi-Sharifi
This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their f…
Keypoint Detection Technique for Image-Based Visual Servoing of Manipulators
Niloufar Amiri, Guanghui Wang, Farrokh Janabi-Sharifi
This paper introduces an innovative keypoint detection technique based on Convolutional Neural Networks (CNNs) to enhance the performance of existing Deep Visual Servoing (DVS) mod…
Image-to-Joint Inverse Kinematic of a Supportive Continuum Arm Using Deep Learning
Shayan Sepahvand, Guanghui Wang, Farrokh Janabi-Sharifi
In this work, a deep learning-based technique is used to study the image-to-joint inverse kinematics of a tendon-driven supportive continuum arm. An eye-off-hand configuration is c…