10 papers
Design, Control, and Motion Strategy for DELTA: Transformable Multilink Multirotor for Air-Ground Hybrid Locomotion and Manipulation
Kazuki Sugihara, Moju Zhao, Takuzumi Nishio +2
In recent years, multimodal locomotion capabilities have enabled robots to maneuver in both terrestrial and aerial domains. However, most of these robots are designed only for loco…
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…
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 Agile and Robust Omnidirectional Aerial Motion on Overactuated Tiltable-Quadrotors
Wentao Zhang, Zhaoqi Ma, Jinjie Li +6
Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and roto…
Falconry-like palm landing by a flapping-wing drone based on the human gesture interaction and distance-aware flight planning
Kazuki Numazato, Keiichiro Kan, Masaki Kitagawa +3
Flapping-wing drones have attracted significant attention due to their biomimetic flight. They are considered more human-friendly due to their characteristics such as low noise and…
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…