8 citations · 9 across the 8 of their papers we have counts for
9 papers · 1 filter
Effector-Centric NMPC of Tiltable-Multirotors for Offset-Free Omnidirectional Aerial Manipulation
Jinjie Li, Yicheng Chen, Johannes Kübel +3
Aerial manipulation extends robotic operations to previously inaccessible aerial environments. Unlike arm-equipped aerial systems, tiltable-multirotors can directly generate six-de…
Self-assembling Modular Aerial Robot for Versatile Aerial Tasks
Junichiro Sugihara, Masaki Kitagawa, Jinjie Li +4
Multirotor aerial robots excel at maneuvering in three-dimensional space, and recent advances enable nimble navigation in cluttered and confined environments, especially for small…
Learning End-to-End Control for Omnidirectional Aerial Motion on Overactuated Tilt-rotor Quadrotors
Wentao Zhang, Zhaoqi Ma, Jinjie Li +8
While reinforcement learning (RL) has been successfully applied to conventional quadrotors for agile and robust flight, whether actuator-level RL can be reliably deployed on tilt-r…
Flexible Morphing Aerial Robot with Inflatable Structure for Perching-based Human-Robot Interaction
Ayano Miyamichi, Moju Zhao, Kazuki Sugihara +5
Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aeria…
Hierarchical Language Models for Semantic Navigation and Manipulation in an Aerial-Ground Robotic System
Haokun Liu, Zhaoqi Ma, Yunong Li +4
Heterogeneous multirobot systems show great potential in complex tasks requiring coordinated hybrid cooperation. However, existing methods that rely on static or task-specific mode…
Adaptive Perching and Grasping by Aerial Robot with Light-weight and High Grip-force Tendon-driven Three-fingered Hand using Single Actuator
Hisaaki Iida, Junichiro Sugihara, Kazuki Sugihara +4
In previous research, various types of aerial robots equipped with perching mechanisms have been developed to extend operational time. However, most existing perching methods adopt…
Servo Integrated Nonlinear Model Predictive Control for Overactuated Tiltable-Quadrotors
Jinjie Li, Junichiro Sugihara, Moju Zhao
Utilizing a servo to tilt each rotor transforms quadrotors from underactuated to overactuated systems, allowing for independent control of both attitude and position, which provide…
BEATLE -- Self-Reconfigurable Aerial Robot: Design, Control and Experimental Validation
Junichiro Sugihara, Moju Zhao, Takuzumi Nishio +2
Modular self-reconfigurable robots (MSRRs) offer enhanced task flexibility by constructing various structures suitable for each task. However, conventional terrestrial MSRRs equipp…
Design, Control, and Motion Strategy of TRADY: Tilted-Rotor-Equipped Aerial Robot With Autonomous In-Flight Assembly and Disassembly Ability
Junichiro Sugihara, Takuzumi Nishio, Keisuke Nagato +2
In previous research, various types of aerial robots were developed to improve maneuverability or manipulation abilities. However, there was a challenge in achieving both mobility…