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Shared-Control Teleoperation of Omnidirectional Aerial Robots for Continuous Valve Rotation
Jinjie Li, Yicheng Chen, Haokun Liu +1
Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although there have been advancements…
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…
Hybrid Impedance-Admittance Control with Multi-Link Aerial Robot for Contact-Rich Surface Sliding Task
Zicheng Luo, Maolin Lei, Jinjie Li +3
Multi-link aerial robots can actively deform their articulated structures during flight, giving them strong potential for aerial manipulation. However, they still face substantial…
CoFL-S: Spatially Queryable Sector Flow Fields for Local Language-Conditioned Navigation
Haokun Liu, Zhaoqi Ma, Yicheng Chen +5
Vision-Language Navigation has increasingly emphasized high-level instruction reasoning, memory, global map construction, and instruction decomposition, while the low-level action…
CoFL: Continuous Flow Fields for Language-Conditioned Navigation
Haokun Liu, Zhaoqi Ma, Yicheng Chen +5
Existing language-conditioned navigation systems typically rely on modular pipelines or trajectory generators, but the latter use each scene--instruction annotation mainly to super…
Design, Modeling and Direction Control of a Wire-Driven Robotic Fish Based on a 2-DoF Crank-Slider Mechanism
Yita Wang, Chen Chen, Yicheng Chen +5
Robotic fish have attracted growing attention in recent years owing to their biomimetic design and potential applications in environmental monitoring and biological surveys. Among…
Hierarchical Trajectory Planning of Floating-Base Multi-Link Robot for Maneuvering in Confined Environments
Yicheng Chen, Jinjie Li, Haokun Liu +3
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and…
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…