Academic Journal
Autonomous aerial manipulation at arbitrary pose in SE(3) with robust control and whole-body planning.
| Τίτλος: | Autonomous aerial manipulation at arbitrary pose in SE(3) with robust control and whole-body planning. |
|---|---|
| Συγγραφείς: | Lee, Dongjae1, Kim, Byeongjun1, Kim, Hyoun Jin1 hjinkim@snu.ac.kr |
| Πηγή: | International Journal of Robotics Research. Jun2026, Vol. 45 Issue 7, p1021-1045. 25p. |
| Θεματικοί όροι: | Robust control, Robotic path planning |
| Περίληψη: | Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation, the robot can freely locate itself at any point in S E (3) , significantly extending its manipulation workspace and enabling a manipulation task that was originally not viable. In this work, we present a geometric robust control and whole-body motion planning framework for an omnidirectional aerial manipulator (OAM). To maximize the strength of OAM, we first propose a geometric robust controller for a floating base. Since the motion of the robotic arm and the interaction forces during manipulation affect the stability of the floating base, the base should be capable of mitigating these adverse effects while controlling its 6D pose. We then design a two-step optimization-based whole-body motion planner, jointly considering the pose of the floating base and the joint angles of the robotic arm to harness the entire configuration space. The devised two-step approach facilitates real-time applicability and enhances convergence of the optimization problem with non-convex and non-Euclidean search space. The proposed approach enables the base to be stationary at any 6D pose while autonomously carrying out sophisticated manipulation near obstacles without any collision. We demonstrate the effectiveness of the proposed framework through experiments in which an OAM performs grasping and pulling of an object in multiple scenarios, including near 90° and even 180° pitch angles. [ABSTRACT FROM AUTHOR] |
| Copyright of International Journal of Robotics Research is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Βάση Δεδομένων: | Business Source Index |
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| Items | – Name: Title Label: Title Group: Ti Data: Autonomous aerial manipulation at arbitrary pose in SE(3) with robust control and whole-body planning. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Lee%2C+Dongjae%22">Lee, Dongjae</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Kim%2C+Byeongjun%22">Kim, Byeongjun</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Kim%2C+Hyoun+Jin%22">Kim, Hyoun Jin</searchLink><relatesTo>1</relatesTo><i> hjinkim@snu.ac.kr</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22International+Journal+of+Robotics+Research%22">International Journal of Robotics Research</searchLink>. Jun2026, Vol. 45 Issue 7, p1021-1045. 25p. – Name: Subject Label: Subject Terms Group: Su Data: <searchLink fieldCode="DE" term="%22Robust+control%22">Robust control</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+path+planning%22">Robotic path planning</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation, the robot can freely locate itself at any point in S E (3) , significantly extending its manipulation workspace and enabling a manipulation task that was originally not viable. In this work, we present a geometric robust control and whole-body motion planning framework for an omnidirectional aerial manipulator (OAM). To maximize the strength of OAM, we first propose a geometric robust controller for a floating base. Since the motion of the robotic arm and the interaction forces during manipulation affect the stability of the floating base, the base should be capable of mitigating these adverse effects while controlling its 6D pose. We then design a two-step optimization-based whole-body motion planner, jointly considering the pose of the floating base and the joint angles of the robotic arm to harness the entire configuration space. The devised two-step approach facilitates real-time applicability and enhances convergence of the optimization problem with non-convex and non-Euclidean search space. The proposed approach enables the base to be stationary at any 6D pose while autonomously carrying out sophisticated manipulation near obstacles without any collision. We demonstrate the effectiveness of the proposed framework through experiments in which an OAM performs grasping and pulling of an object in multiple scenarios, including near 90° and even 180° pitch angles. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of International Journal of Robotics Research is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1177/02783649251378195 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 25 StartPage: 1021 Subjects: – SubjectFull: Robust control Type: general – SubjectFull: Robotic path planning Type: general Titles: – TitleFull: Autonomous aerial manipulation at arbitrary pose in SE(3) with robust control and whole-body planning. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Lee, Dongjae – PersonEntity: Name: NameFull: Kim, Byeongjun – PersonEntity: Name: NameFull: Kim, Hyoun Jin IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 06 Text: Jun2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 02783649 Numbering: – Type: volume Value: 45 – Type: issue Value: 7 Titles: – TitleFull: International Journal of Robotics Research Type: main |
| ResultId | 1 |