Jongbeom Her

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We propose a novel multi-rotor flying platform, ODAR (omni-directional aerial robot), which is fully-actuated (i.e., can assume arbitrary motion in SE(3) or generate arbitrary control wrench in se(3)) by six opportunistically distributed rotors, each driven by reversible ESC (electronic speed controller) for bi-directional thrust generation. Due to this(More)
We propose a novel whole-body multi-modal semiautonomous teleoperation framework for mobile manipulator systems, which consists of: 1) Motion capture and whole-body motion mapping to allow the operator to intuitively teleoperate the mobile manipulator without being constrained by the master interface while also fully exploiting whole-body dexterity; 2)(More)
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