RAL 2021: Aerial Manipulator Pushing a Movable Structure using a DOB-based Robust Controller

This paper deals with the problem of an aerial manipulator pushing a movable structure. Contrary to physical interaction with a static structure, suitable consideration of the interacting force during the motion of the structure is required to stably perform this movable structure interaction. To accomplish the task of pushing a structure while ensuring the stability of the aerial manipulator, we present a nonlinear disturbance-observer (DOB)-based robust control approach by regarding the i...

MS Thesis 2020: Opening a Hinged Door with an Aerial Manipulator using Model Predictive Control

From aerial pick-and-place to aerial transportation, aerial manipulation has been extensively stud-ied in recent years thanks to its mobility and dexterity, each of which is a merit of an aerial vehicleand a robotic arm. However, to fully harness the concept of aerial manipulation, more complextasks including interaction with movable structures should also be considered. Among varioustypes of movable structures, this paper presents a multirotor-based aerial manipulator opening adai...

ICRA 2020: Aerial Manipulation using Model Predictive Control for Opening a Hinged Door

Existing studies for environment interaction with an aerial robot have been focused on interaction with static surroundings. However, to fully explore the concept of an aerial manipulation, interaction with moving structures should also be considered. In this paper, a multirotor-based aerial manipulator opening a daily-life moving structure, a hinged door, is presented. In order to address the constrained motion of the structure and to avoid collisions during operation, model predictive con...

ICCAS 2019: Model Predictive Control for an Aerial Manipulator Opening a Hinged Door

Aerial manipulation has been widely studied to be employed in various tasks such as exploration and transportation. To incorporate aerial manipulation into more sophisticated tasks like pulling or pushing a heavy cargo, an active interaction with surrounding structures should be considered. Unlike physical contact with a static structure which was mainly studied in previous papers, interaction with a movable structure requires a consideration of dynamics of the structure which makes the scena...