9 citations · 17 across the 19 of their papers we have counts for
19 papers · 1 filter
Prior Evolution and Task Alignment for Aerial Grasping
Weiliang Deng, Zhengyang Dang, Yao Mu +1
Aerial grasping is a remarkable capability exhibited by predatory birds, allowing them to capture prey through highly coordinated maneuvers in flight. Inspired by this capability,…
Aerodynamic Prior-Free Coordinated Trajectory Generation and Tracking Control for a Tail-Sitter UAV
Erchao Rong, Zihao Liu, Junning Liang +5
This paper presents a coordinated trajectory generation and tracking control framework for a tail-sitter unmanned aerial vehicle (UAV), which does not require aerodynamic priors id…
Light-Loco-Parkour: Versatile Perceptive Whole-Body Locomotion via Multi-Skill Distillation
Hongming Chen, Zhuoran Li, Hongxi Wang +9
Existing humanoid whole-body control systems still fall short of the way humans move through cluttered terrain: they either track expressive whole-body references without terrain g…
FlyAware: Inertia-Aware Aerial Manipulation via Vision-Based Estimation and Post-Grasp Adaptation
Biyu Ye, Na Fan, Zhengping Fan +4
Aerial manipulators (AMs) are gaining increasing attention in automated transportation and emergency services due to their superior dexterity compared to conventional multirotor dr…
COMET: A Dual Swashplate Autonomous Coaxial Bi-copter AAV with High-Maneuverability and Long-Endurance
Shuai Wang, Xiaoming Tang, Junning Liang +5
Coaxial bi-copter autonomous aerial vehicles (AAVs) have garnered attention due to their potential for improved rotor system efficiency and compact form factor. However, balancing…
Threat-Aware UAV Dodging of Human-Thrown Projectiles with an RGB-D Camera
Yuying Zhang, Na Fan, Haowen Zheng +4
Uncrewed aerial vehicles (UAVs) performing tasks such as transportation and aerial photography are vulnerable to intentional projectile attacks from humans. Dodging such a sudden a…
Head Stabilization for Wheeled Bipedal Robots via Force-Estimation-Based Admittance Control
Tianyu Wang, Chunxiang Yan, Xuanhong Liao +6
Wheeled bipedal robots are emerging as flexible platforms for field exploration. However, head instability induced by uneven terrain can degrade the accuracy of onboard sensors or…
Whole-Body Control With Terrain Estimation of A 6-DoF Wheeled Bipedal Robot
Cong Wen, Yunfei Li, Kexin Liu +6
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restrictin…
Design and Control of a Coaxial Dual-rotor Reconfigurable Tailsitter UAV Based on Swashplateless Mechanism
Jinfeng Liang, Haocheng Guo, Ximin Lyu
The tailsitter vertical takeoff and landing (VTOL) UAV is widely used due to its lower dead weight, which eliminates the actuators and mechanisms for tilting. However, the tailsitt…
Aerial Grasping via Maximizing Delta-Arm Workspace Utilization
Haoran Chen, Weiliang Deng, Biyu Ye +3
The workspace limits the operational capabilities and range of motion for the systems with robotic arms. Maximizing workspace utilization has the potential to provide more optimal…
Automated UAV-based Wind Turbine Blade Inspection: Blade Stop Angle Estimation and Blade Detail Prioritized Exposure Adjustment
Yichuan Shi, Hao Liu, Haowen Zheng +5
Unmanned aerial vehicles (UAVs) are critical in the automated inspection of wind turbine blades. Nevertheless, several issues persist in this domain. Firstly, existing inspection p…
AeroThrow: An Autonomous Aerial Throwing System for Precise Payload Delivery
Ziliang Li, Hongming Chen, Yiyang Lin +2
Autonomous aerial systems play an increasingly vital role in a wide range of applications, particularly for transport and delivery tasks in complex environments. In airdrop mission…
IRS: Instance-Level 3D Scene Graphs via Room Prior Guided LiDAR-Camera Fusion
Hongming Chen, Yiyang Lin, Ziliang Li +3
Indoor scene understanding remains a fundamental challenge in robotics, with direct implications for downstream tasks such as navigation and manipulation. Traditional approaches of…
Autonomous Flights inside Narrow Tunnels
Luqi Wang, Yan Ning, Hongming Chen +5
Multirotors are usually desired to enter confined narrow tunnels that are barely accessible to humans in various applications including inspection, search and rescue, and so on. Th…
Predictor-Based Time Delay Control of A Hex-Jet Unmanned Aerial Vehicle
Junning Liang, Haowen Zheng, Yuying Zhang +3
Turbojet-powered VTOL UAVs have garnered increased attention in heavy-load transport and emergency services, due to their superior power density and thrust-to-weight ratio compared…
Whole-Body Integrated Motion Planning for Aerial Manipulators
Weiliang Deng, Hongming Chen, Biyu Ye +3
Expressive motion planning for Aerial Manipulators (AMs) is essential for tackling complex manipulation tasks, yet achieving coupled trajectory planning adaptive to various tasks r…
NDOB-Based Control of a UAV with Delta-Arm Considering Manipulator Dynamics
Hongming Chen, Biyu Ye, Xianqi Liang +2
Aerial Manipulators (AMs) provide a versatile platform for various applications, including 3D printing, architecture, and aerial grasping missions. However, their operational speed…
DOB-based Wind Estimation of A UAV Using Its Onboard Sensor
Haowen Yu, Xianqi Liang, Ximin Lyu
Unmanned Aerial Vehicles (UAVs) play a crucial role in meteorological research, particularly in environmental wind field measurements. However, several challenges exist in current…
DIABLO: A 6-DoF Wheeled Bipedal Robot Composed Entirely of Direct-Drive Joints
Dingchuan Liu, Fangfang Yang, Xuanhong Liao +1
Wheeled bipedal robots offer the advantages of both wheeled and legged robots, combining the ability to traverse a wide range of terrains and environments with high efficiency. How…