3 papers
cs.RO2023
Minimally actuated tiltrotor for perching and normal force exertion
Dongjae Lee, Sunwoo Hwang, Changhyeon Kim +2
This study presents a new hardware design and control of a minimally actuated 5 control degrees of freedom (CDoF) quadrotor-based tiltrotor. The proposed tiltrotor possesses severa…
cs.RO2023
Stable Contact Guaranteeing Motion/Force Control for an Aerial Manipulator on an Arbitrarily Tilted Surface
Jeonghyun Byun, Byeongjun Kim, Changhyeon Kim +2
This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability durin…
cs.RO2021
Aerial Chasing of a Dynamic Target in Complex Environments
Boseong Felipe Jeon, Changhyeon Kim, Hojoon Shin +1
Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objective…