10 papers
Active Stiffness Control of a Supportive Continuum Robot
Rana Danesh, Farrokh Janabi-Sharifi, Farhad Aghili
Supportive continuum robots (SCRs) enhance the load-bearing capability of an operative continuum robot by mechanically coupling it with a supportive arm. However, their passive sti…
Evidence-Based Landing Site Selection and Vison-Based Landing for UAVs in Unstructured Environments
Sina Sajjadi, Jacopo Panerati, Sina Soleymanpour +3
Autonomous landing in cluttered or unstructured environments remains a safety-critical challenge for unmanned aerial vehicles (UAVs), particularly under noisy perception caused by…
AI-Enabled Image-Based Hybrid Vision/Force Control of Tendon-Driven Aerial Continuum Manipulators
Shayan Sepahvand, Farrokh Janabi-Sharifi, Farhad Aghili
This paper presents an AI-enabled cascaded hybrid vision/force control framework for tendon-driven aerial continuum manipulators based on constant-strain modeling in as a c…
Real-Time Projected Adaptive Control for Closed-Chain Co-Manipulative Continuum Robots
Rana Danesh, Farrokh Janabi-Sharifi, Farhad Aghili
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-…
Strain-Parameterized Coupled Dynamics and Dual-Camera Visual Servoing for Aerial Continuum Manipulators
Niloufar Amiri, Farrokh Janabi-Sharifi
Tendon-driven aerial continuum manipulators (TD-ACMs) combine the maneuverability of uncrewed aerial vehicles (UAVs) with the compliance of lightweight continuum robots (CRs). Exis…
Systematic Analysis of Coupling Effects on Closed-Loop and Open-Loop Performance in Aerial Continuum Manipulators
Niloufar Amiri, Shayan Sepahvand, Iraj Mantegh +1
This paper investigates two distinct approaches to the dynamic modeling of aerial continuum manipulators (ACMs): the decoupled and the coupled formulations. Both open-loop and clos…