Papers by Konstantin Kondak
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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Journal of Intelligent & Robotic Systems, 2021
This paper introduces a passivity-based control framework for multi-task time-delayed bilateral t... more This paper introduces a passivity-based control framework for multi-task time-delayed bilateral teleoperation and shared control of kinematically-redundant robots. The proposed method can be seen as extension of state-of-the art hierarchical whole-body control as it allows for some of the tasks to be commanded by a remotely-located human operator through a haptic device while the others are autonomously performed. The operator is able to switch among tasks at any time without compromising the stability of the system. To enforce the passivity of the communication channel as well as to dissipate the energy generated by the null-space projectors used to enforce the hierarchy among the tasks, the Time-Domain Passivity Approach (TDPA) is applied. The efficacy of the approach is demonstrated through its application to the DLR Suspended Aerial Manipulator (SAM) in a real telemanipulation scenario with variable time delay, jitter, and package loss.
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2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
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2019 19th International Conference on Advanced Robotics (ICAR), 2019
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2020 IEEE International Conference on Robotics and Automation (ICRA), 2020
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2020 IEEE International Conference on Robotics and Automation (ICRA), 2020
Attaching a robotic manipulator to a flying base allows for significant improvements in the reach... more Attaching a robotic manipulator to a flying base allows for significant improvements in the reachability and versatility of manipulation tasks. In order to explore such systems while taking advantage of human capabilities in terms of perception and cognition, bilateral teleoperation arises as a reasonable solution. However, since most telemanipulation tasks require visual feedback in addition to the haptic one, real-time (task-dependent) positioning of a video camera, which is usually attached to the flying base, becomes an additional objective to be fulfilled. Since the flying base is part of the kinematic structure of the robot, if proper care is not taken, moving the video camera could undesirably disturb the end-effector motion. For that reason, the necessity of controlling the base position in the null space of the manipulation task arises. In order to provide the operator with meaningful information about the limits of the allowed motions in the null space, this paper presents...
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2019 International Conference on Robotics and Automation (ICRA), 2019
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2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021
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2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016
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2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021
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IEEE Robotics and Automation Letters, 2020
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Proceedings of the 10th Aerospace Technology Congress, October 8-9, 2019, Stockholm, Sweden, Oct 23, 2019
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IFAC-PapersOnLine, 2018
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IEEE Robotics and Automation Letters, 2018
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Journal of Systems Architecture, 2017
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Unmanned Systems, 2016
The use of tethered Unmanned Aircraft Systems (UAS) in aerial robotic applications is a relativel... more The use of tethered Unmanned Aircraft Systems (UAS) in aerial robotic applications is a relatively unexplored research field. This work addresses the attitude and position estimation of a small-size unmanned helicopter tethered to a moving platform using a multi-sensor data fusion algorithm based on a numerically efficient sigma-point Kalman filter implementation. For that purpose, the state prediction is performed using a kinematic process model driven by measurements of the inertial sensors (accelerometer and gyroscope) onboard the helicopter and the subsequent correction is done using information from additional sensors like magnetometer, barometric altimeter, LIDAR altimeter and magnetic encoders measuring the tether orientation relative to the helicopter. Assuming the tether is kept taut by an actuated device on the platform during the system operation, the helicopter position is estimated relative to the anchor point. Although this configuration avoids the need of a GPS, a sta...
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Robotics and Autonomous Systems, 2016
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IEEE Robotics and Automation Letters, 2016
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This paper is devoted to lightweight rotary wing UAVs for applications at extreme high altitudes ... more This paper is devoted to lightweight rotary wing UAVs for applications at extreme high altitudes of up to 9000m, such as search and rescue as well as different types of environmental monitoring. Up to now, such rotary wing UAVs have not been available. Consequently, experience in design and operation of rotary wing UAVs in such environments is lacking. This situation motivates our team from DLR and TUM to work on an all-electric prototype of this kind of rotary wing UAV. The first experimental missions should be performed at altitudes of 5000 to 9000m above sea level. This paper shows the project’s current status and preliminary results. We present procedures for preliminary rotor designs and electrical power supplies as well as a tool developed for exploration of the influence of critical design parameters from a mission based point of view. Using the described procedures and the tool, we present the preliminary design of the UAV prototype, which is a synchropter with two counter-r...
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Papers by Konstantin Kondak