7 papers
Light-Loco-Parkour: Versatile Perceptive Whole-Body Locomotion via Multi-Skill Distillation
Hongming Chen, Zhuoran Li, Hongxi Wang +9
Existing humanoid whole-body control systems still fall short of the way humans move through cluttered terrain: they either track expressive whole-body references without terrain g…
FlyAware: Inertia-Aware Aerial Manipulation via Vision-Based Estimation and Post-Grasp Adaptation
Biyu Ye, Na Fan, Zhengping Fan +4
Aerial manipulators (AMs) are gaining increasing attention in automated transportation and emergency services due to their superior dexterity compared to conventional multirotor dr…
NDOB-Based Control of a UAV with Delta-Arm Considering Manipulator Dynamics
Hongming Chen, Biyu Ye, Xianqi Liang +2
Aerial Manipulators (AMs) provide a versatile platform for various applications, including 3D printing, architecture, and aerial grasping missions. However, their operational speed…
Whole-Body Integrated Motion Planning for Aerial Manipulators
Weiliang Deng, Hongming Chen, Biyu Ye +3
Expressive motion planning for Aerial Manipulators (AMs) is essential for tackling complex manipulation tasks, yet achieving coupled trajectory planning adaptive to various tasks r…
AeroThrow: An Autonomous Aerial Throwing System for Precise Payload Delivery
Ziliang Li, Hongming Chen, Yiyang Lin +2
Autonomous aerial systems play an increasingly vital role in a wide range of applications, particularly for transport and delivery tasks in complex environments. In airdrop mission…
Autonomous Flights inside Narrow Tunnels
Luqi Wang, Yan Ning, Hongming Chen +5
Multirotors are usually desired to enter confined narrow tunnels that are barely accessible to humans in various applications including inspection, search and rescue, and so on. Th…