Student Projects
Enhancing Disturbance Rejection in Multi-Aerial Robot Systems with Cable-Suspended Loads
The use of a cable force allocation matrix has proven beneficial for human-payload interaction and for maintaining safe robot separation, without compromising payload trajectory tracking. However, there is a lack of studies on the differential cable force allocation matrix, which could further maximize dynamic manipulability and increase disturbance rejection.
Geometric Impedance Manipulation in Multi-Aerial Robot Systems with Cable-Suspended Loads
This research explores advanced control strategies for human-robot interactions, focusing on a geometric impedance controller on the SE(3) manifold to address the coupling of translational and rotational dynamics in complex motions.
Perceptive Collision Avoidance for Quadrotors with Suspended Payloads
Learning agile flights in clustered environments for quadrotors with suspended payloads from pixel information using differentiable simulators