2 papers
cs.RO2026
QP-Based Control of an Underactuated Aerial Manipulator under Constraints
Nesserine Laribi, Mohammed Rida Mokhtari, Abdelaziz Benallegue +2
This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for s…
cs.RO2024
The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots
Arnaud Demont, Mehdi Benallegue, Abdelaziz Benallegue +5
In this paper, we propose the "Kinetics Observer", a novel estimator addressing the challenge of state estimation for legged robots using proprioceptive sensors (encoders, IMU and…