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Versatile Tasks on Integrated Aerial Platforms Using Only Onboard Sensors: Control, Estimation, and Validation

IEEE Transactions on robotics 2025年 41卷 3518-3538页

作者： Wang, Kaidi Lai, Ganghua Yu, Yushu Du, Jianrui Sun, Jiali Xu, Bin Franchi, Antonio Sun, Fuchun Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beijing Institute of Technology School of Mechanical Engineering Beijing100081 China University of Twente Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics and Computer Science Enschede7500 AE Netherlands Tsinghua University Department of Computer Science and Technology China

Connecting multiple aerial vehicles to a rigid central platform through passive spherical joints holds the potential to construct a fully-actuated aerial platform. The integration of multiple vehicles enhances efficiency in tasks like mapping and object reconnaissance. This paper proposes a control and state estimation framework for the Integrated Aerial Platform (IAP), enabling it to perform versatile tasks like object reconnaissance and physical interactive tasks with only onboard sensors. In the framework, the 6D motion control serves as the low-level controller, while the high-level controller comprises a 6D admittance filter and a perception-aware attitude correction module. The 6D admittance filter, serving as the interaction controller, is adaptable for aerial interaction tasks. The perception-aware attitude correction algorithm is carefully designed by adopting a geometric Model Predictive Controller (MPC). This algorithm, incorporating both offline and online calculations, proves to be well-suited for the intricate dynamics of an IAP. A 6D direct wrench controller is also developed for the IAP. Notably, both the interaction controller and the direct wrench controller operate without reliance on force/torque sensors. Instead, a wrench observer algorithm is devised, considering external disturbances. Additionally, based on the kinematics constraints of the multiple aerials in the platform, a fusion algorithm for multiple Visual-Inertial Odometry (VIO) and kinematics constraints is developed, providing more accurate localization. A prototype of the IAP is constructed, and its capabilities are demonstrated through experiments including perception-aware object reconnaissance, aerial mapping, aerial peg-in-hole task, and 6D contact wrench generation. All experiments are conducted exclusively with onboard sensors. These tasks exemplify the merits of the proposed IAP and validate the effectiveness of the proposed control framework and fusion algorithm. © 2004-2012

关键词： State estimation

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Improved Efficiency of Weakly Coupled Wireless High-Power Transfer Systems by Loss-Separation Strategy

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International Journal of Circuit Theory and Applications 2025年第0期

作者： The Nguyen, Hoach Al-Sumaiti, Ameena Saad Alhassan, Ahmad Bala Do, Ton Duc Smart OR Lab Advanced Power and Energy Center Department of Electrical Engineering Khalifa University Abu Dhabi United Arab Emirates Department of Robotics and Mechatronics School of Engineering and Digital Sciences Nazarbayev University Astana Kazakhstan

In the equivalent T-model of the loosely coupled transformers, the small mutual inductance can lead to higher conducting currents, which cause high losses in the primary circuit and significantly reduce the overall transfer efficiency under weak-coupling states. To overcome this challenge, this paper proposes a strategy to separate the primary loss components from the weak-coupling stage. In the proposed strategy, a gyrator in the form of a double-resonance T-block is added just before the weak-coupling stage to improve the overall efficiency. Then, the strategy is realized by various topologies such as compensating circuits, added coils, isolated transformers, and integrated-/split- inductors/coils. Also, the optimized designs and component selection for resonance and the mathematical derivation for optimal load resistances were investigated. ANSYS comparative analyses of the topologies are presented by considering practical aspects, including component designs, power flows, transfer efficiency, resonance frequency shifting, and optimal loads. Finally, the analyses were validated using the fabricated experimental setups and demonstrated an efficiency improvement of about 5% for a case with a coupling factor of 0.1. The proposed strategy offers suggestions for industrial designs of high-power wireless battery charging systems using resonant inductive coils. © 2025 John Wiley & Sons Ltd.

关键词： Inductive power transmission

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High-performance applications: Robot motions in complex environments

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Control Engineering Practice 1993年第3期1卷 499-504页

作者： Schweitzer, G. Inst of Robotics and Mechatronics Lab Zurich Switzerland

A high-performance motion control is the basis for an `intelligent' behaviour of a robot. It describes its ability to pick up information about its environment, and to process it in such a way that it reacts according to the situation. The exploitation of this potential for `intelligent interaction' with the environment will be one of the most dominant trends in future robotics. In a complex environment most often an interaction with a human operator or user will be necessary or desirable. Subsequently some robotics projects of the ETH will be presented where an `intelligent' motion control of a robot has been realized under various environmental constraints, demonstrating methods, feasibility and trends: a robot with visual and tactile abilities, a mobile manipulator for rough terrain, a `polite' mobile robot, and a pingpong playing robot.

关键词： Motion control

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Bio-Skin: A Cost-Effective Thermostatic Tactile Sensor with Multi-Modal Force and Temperature Detection

arXiv

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arXiv 2025年

作者： Guo, Haoran Wang, Haoyang Li, Zhengxiong Tao, Lingfeng Oklahoma State University Mechatronics and Intelligent Robotics Lab 563 Engineering North StillwaterOK74075 United States University of Colorado Denver Department of Computer Science and Engineering 1380 Lawrence St. Center LW-834 DenverCO80217 United States

Tactile sensors can significantly enhance the perception of humanoid robotics systems by providing contact information that facilitates human-like interactions. However, existing commercial tactile sensors focus on improving the resolution and sensitivity of single-modal detection with high-cost components and densely integrated design, incurring complex manufacturing processes and unaffordable prices. In this work, we present Bio-Skin, a cost-effective multi-modal tactile sensor that utilizes single-axis Hall-effect sensors for planar normal force measurement and bar-shape piezo resistors for 2D shear force measurement. A thermistor coupling with a heating wire is integrated into a silicone body to achieve temperature sensation and thermostatic function analogous to human skin. We also present a cross-reference framework to validate the two modalities of the force sensing signal, improving the sensing fidelity in a complex electromagnetic environment. Bio-Skin has a multi-layer design, and each layer is manufactured sequentially and subsequently integrated, thereby offering a fast production pathway. After calibration, Bio-Skin demonstrates performance metrics—including signal-to-range ratio, sampling rate, and measurement range—comparable to current commercial products, with one-tenth of the cost. The sensor’s real-world performance is evaluated using an Allegro hand in object grasping tasks, while its temperature regulation functionality was assessed in a material detection task. Copyright © 2025, The Authors. All rights reserved.

关键词： Tactile sensors

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Kinematic and Dynamic Analysis of a 3-■US Spatial Parallel Manipulator

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Chinese Journal of Mechanical Engineering 2020年第1期33卷 114-130页

作者： Mervin Joe Thomas M.L.Joy A.P.Sudheer Mechatronics/Robotics Lab Department of Mechanical EngineeringNational Institute of Technology CalicutKozhikodeIndia

Parallel Kinematic Machines(PKMs)are being widely used for precise applications to achieve complex motions and variable poses for the end effector *** are found in medical,assembly and manufacturing industries where accuracy is *** is often desired to have a compact and simple architecture for the robotic *** this paper,the kinematic and dynamic analysis of a novel 3-PRUS(P:prismatic joint,R:revolute joint,U:universal joint,S:spherical joint)parallel manipulator with a mobile platform having 6 Degree of Freedom(Do F)is *** kinematic equations for the proposed spatial parallel mechanism are formulated using the Modified Denavit-Hartenberg(DH)technique considering both active and passive *** kinematic equations are used to derive the Jacobian matrix of the mechanism to identify the singular points within the workspace.A Jacobian based sti ness analysis is done to understand the variations in sti ness for different poses of the mobile platform and further,it is used to decide trajectories for the end effector within the singularity free *** analytical model of the robot dynamics is presented using the Euler-Lagrangian approach with Lagrangian multipliers to include the system *** gravity and inertial forces of all links are considered in the mathematical *** analytical results of the dynamic model are compared with ADAMS simulation results for a pre-defined trajectory of the end effector.

关键词： Parallel manipulator Kinematic modelling Workspace analysis Euler-Lagrangian modelling Singularity analysis Stiffness analysis

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The robot as an intelligent interactive machine

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mechatronics 1991年第4期1卷 525-533页

作者： Schweitzer, G. Institute of Robotics and Mechatronics Lab. ETH Zürich ZürichCH-8092 Switzerland

The growth of interconnections between mechanical and electrical engineering and computer science, characterized by the term mechatronics, is most obvious for the field of robotics. These interconnections allow an ‘intelligent’ behaviour of a machine, depending on its ability to pick up information about its environment, and to process it in such a way that it reacts according to the situation. In our working environment most often an interaction with a human operator will be necessary or desirable. Subsequently, three robotic projects of the ETH will be presented where this man/machine interaction is, or will be, realized under various intentions and constraints: a table tennis playing robot, a mobile, sensor-supported manipulator, and a cooperating robot. © 1991

关键词： Manipulators

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Analysis and experimental evaluation of an object-level in-hand manipulation controller based on the virtual linkage model 1

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ROBOT 2013: 1st Iberian robotics Conference

作者： González-Quijano, Javier Wimböck, Thomas Bensalah, Choukri Abderrahim, Mohamed Robotics Lab University Carlos III of Madrid Spain Institute of Robotics and Mechatronics DLR Germany

ISBN: (纸本)9783319036526

Robot grasping and in-hand manipulation are nowadays very active research fields. Their study has been carried out since many years ago. A very important topic is object-level impedance controllers. While many different articles have been published during the last two decades, it seems not clear that most of the newer methods have taken the advantage over some older ones. Main reasons are related to the problem of validating such approaches due both to the limited number of existing robotic hands and to the high limitations of the simulation technology. It is the aim of this work to review one of this powerful approaches, with some extensions, and demonstrate that they still represent a strong basis for developing robust and efficient state-of-the-art object-level grasp and in-hand manipulation controllers. A review on the concept of the Virtual Linkage null-space parametrization, and its application to the implementation of object-level manipulation controllers will be given. Furthermore, a validation using the Openrave simulator configured with the ODE physical dynamics engine has been performed. The DLR-Hand II has been used in these experiments. © Springer International Publishing Switzerland 2014.

关键词： Controllers

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Experimental study of bullet-proofing capabilities of Kevlar, of different weights and number of layers, with 9mm projectiles

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Defence Technology（防务技术） 2019年第2期15卷 186-192页

作者： Riaan Stopforth Sarp Adali Stopforth Mechatronics Robotics and Research Lab Discipline of Mechanical Engineering University of Kwazulu-Natal Centre for Composite Materials and Structures Discipline of Mechanical EngineeringUniversity of KwaZulu-Natal

Kevlar is the most commonly used material as armour for protection against bullets used in hand guns because of its impact resistance, high strength and low weight. These properties make Kevlar an ideal material to be used in bullet-proof vests as compared to other materials. In the present study, different numbers of layers of Kevlar with different weights are tested to determine the weights and the number of layers needed to design a safe bullet-proof vest. For this purpose, several ballistic tests were performed on combinations of ballistic gel and Kevlar layers of different weights. Ballistic impacts are generated by 9 mm Parabellum ammunition. The objective is to assess the characteristics of high-speed ballistic penetration into a combination of a gel and Kevlar and determine the number of layers needed to safely stop the 9 mm bullet and thereby contribute to the design of safe bullet-proof vests. The tests provide information on the distances the bullets can travel in a gel/Kevlar medium before they are stopped and to identify the resistance capabilities of Kevlar of different grams per square meter(GSM). The tests were conducted with the use of a chronograph in a controlled test environment. Specifically, results identify the number of layers of Kevlar required to stop a 9 mm Parabellum projectile, and the effectiveness of using different number of layers of GSM Kevlar material.

关键词： Kevlar 9mm Parabellum bullet Ballistic impact Ballistic gel Material testing

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Comparison of Various Weighted K-Nearest Neighbor Methods for Positioning Systems Using Visible LED Lights 15th

Comparison of Various Weighted K-Nearest Neighbor Methods fo...

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15th International Conference on Intelligent Computing, ICIC 2019

作者： Tran, Huy Q. Ha, Cheolkeun Robotics and Mechatronics Lab Ulsan University Ulsan44610 Korea Republic of

ISBN: (纸本)9783030267629

K-nearest neighbor (kNN) is one of the most popular methods used in indoor positioning systems. The estimated position is, nevertheless, the center of the area formed by some fingerprints which have the smallest Euclidean distance, regardless of the difference between these distances. This leads to an error in the prediction process. In this paper, to improve the positioning accuracy, some variants of kNN, namely Weighted kNN (WkNN), are suggested. In addition to evaluating the quality of each method, we provide a detailed comparison of all methods together to figure out the optimal solution for the visible LED light positioning system. The obtained results show that all the proposed WkNN methods can significantly improve the positioning accuracy. However, the level of improvement is not exactly the same. In the best case, our proposed solution achieves an improvement by 100-fold compared to traditional kNN method. © 2019, Springer Nature Switzerland AG.

关键词： Indoor positioning systems

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Parameters Optimization for Support Vector Regression Based Indoor Visible Light Localization 15th

Parameters Optimization for Support Vector Regression Based ...

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15th International Conference on Intelligent Computing, ICIC 2019

作者： Tran, Huy Q. Ha, Cheolkeun Robotics and Mechatronics Lab Ulsan University Ulsan44610 Korea Republic of

ISBN: (纸本)9783030267629

In this paper, we optimize parameters of indoor visible light localization system based on support vector regression algorithm to achieve higher positioning accuracy. Additionally, some other popular supervised machine learning algorithms such as linear regression, artificial neural networks, and k-nearest neighbors are also implemented. Then, we compare these solutions together to demonstrate the superiority of our approach. This solution is simulated in a hypothetical space of 5 m × 5 m × 3 m. To obtain satisfactory performance, a system of four LED lights and a photodiode are used to transmit and receive optical power, respectively. In the proposed system, the location estimation process is divided into two distinct sub-processes: offline stage and online stage. In the offline stage, data collection and data training are carried out. The results obtained from this stage and the current data in the online stage are the base to determine the current location of the object carrying the photodiode. The simulation results prove that our approach can achieve positioning accuracy of almost 7.4 cm. © 2019, Springer Nature Switzerland AG.

关键词： Learning algorithms

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