3 papers
cs.RO2026
Safety-Critical Bilateral Teleoperation for Omnidirectional Aerial Manipulation Using Force-Sensorless Haptic Feedback
Yubin Kim, Jinwoo Lee, Yongjun You +2
This paper presents a safety-critical bilateral teleoperation framework for omnidirectional aerial manipulators that integrates visual and force-sensorless haptic wrench feedback.…
cs.RO2025
Whole-body motion planning and safety-critical control for aerial manipulation
Lin Yang, Jinwoo Lee, Domenico Campolo +2
Aerial manipulation combines the maneuverability of multirotors with the dexterity of robotic arms to perform complex tasks in cluttered spaces. Yet planning safe, dynamically feas…
cs.RO2025
Geometric Backstepping Control of Omnidirectional Tiltrotors Incorporating Servo-Rotor Dynamics for Robustness against Sudden Disturbances
Jaewoo Lee, Dongjae Lee, Jinwoo Lee +3
This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuat…