Active Interaction Force Control for Contact-Based Inspection With a Fully Actuated Aerial Vehicle

Bodie, Karen; Brunner, Maximilian; Pantic, Michael; Walser, Stefan; Pfändler, Patrick; Angst, Ueli; Siegwart, Roland; Nieto, Juan

doi:10.1109/tro.2020.3036623

Cited by 104 publications

(56 citation statements)

References 29 publications

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“…If this is not ensured, the end-effector might slip causing the crash of the robot. Applications falling into this category are the installation of sensor devices [85], the inspection by contact of tanks [44], pipes [66], and other surfaces [6], [86]. 3) Pulling/Pushing (PP): This task is similar to the contact point, but the point of interaction is nonstatic.…”

Section: ) Pick and Place (Pandp)mentioning

confidence: 99%

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Past, Present, and Future of Aerial Robotic Manipulators

et al. 2022

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This article analyzes the evolution and current trends in aerial robotic manipulation, comprising helicopters, conventional underactuated multirotors, and multidirectional thrust platforms equipped with a wide variety of robotic manipulators capable of physically interacting with the environment. It also covers cooperative aerial manipulation and interconnected actuated multibody designs. The review is completed with developments in teleoperation, perception, and planning. Finally, a new generation of aerial robotic manipulators is presented with our vision of the future. Index Terms-Aerial manipulation, aerial robots physically interacting with the environment, unmanned aerial vehicles. I. INTRODUCTIONT HE field of aerial robots physically interacting with the environment, and particularly aerial robotic manipulators (AEROMs), has experienced ten years of sustained growth. Diverse prototypes, functionalities and capabilities have been developed and evaluated in representative indoor and outdoor scenarios, demonstrating the possibility to successfully perform manipulation tasks while flying. The ability of aerial manipulators to quickly reach and operate in high altitude workspaces, along with the level of maturity reached in recent years, led to the application of this technology in areas like inspection and maintenance, reducing time, cost, and risk for the human workers. In this sense, this article aims at providing a broad perspective and analysis of the work done in aerial manipulation,

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Section: ) Pick and Place (Pandp)mentioning

confidence: 99%

“…The platform has been equipped with a passive one-DoF revolute end-effector to accomplish point-contact tasks. Bodie et al [86] and Bodie et al [87] proposed a twelve-rotor platform in a double motor configuration, where each pair of propellers can tilt radially. Such actuation configuration makes the platform OD and OA.…”

Section: E Types Of Multirotor Platformsmentioning

confidence: 99%

Past, Present, and Future of Aerial Robotic Manipulators

et al. 2022

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“…Sanchez-Cuevas et al use a similar fully-actuated hexacopter to access the underside of a concrete bridge, maintaining contact using an outrigger frame atop the UAV, but present no structural NDE data [31]. Building on previous work [32], using a hexacopter layout with 12 vectored propellers Bodie et al [33], [34] generate 6 DoF pose-decoupled force and torque. They inspect a reinforced concrete block at 5 cm intervals using a half cell potential mapping circuit grounded to the sample.…”

Section: A Related Workmentioning

confidence: 99%

Dry Coupled Ultrasonic Non-Destructive Evaluation Using an Over-Actuated Unmanned Aerial Vehicle

Watson

Kamel²,

Zhang

et al. 2022

IEEE Trans. Automat. Sci. Eng.

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“…A. Kinematic Model 1) Omnidirectional Floating Base: Seeking generality, we model the floating base as a rigid body that is subject to gravity, potential external wrenches, and a controllable wrench [23]. The latter is generated by the particular actuation setup, including propellers and servomotors to generate forces (and drag moment) in different orientations.…”

Section: Modelingmentioning

confidence: 99%

“…1) consisting in an omnidirectional tiltrotor flying base equipped with a 3 DOF parallel manipulator. We chose the morphology known as "Clavel's Delta" [22] because of its non-redundant 3 DOF, and rotary actuators which are easily integrated into our omnidirectional aerial robot [23]. In this paper we go beyond the state of the art, aiming at dynamic and precise end effector motion in the full 6D space.…”

Section: Introductionmentioning

confidence: 99%

Dynamic End Effector Tracking With an Omnidirectional Parallel Aerial Manipulator

Bodie

Tognon

Siegwart

2021

IEEE Robot. Autom. Lett.

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To address the challenge of precise, dynamic and versatile aerial manipulation, we present an aerial manipulation platform consisting of a parallel 3-DOF manipulator mounted to an omnidirectional tilt-rotor aerial vehicle. The general modeling of a parallel manipulator on an omnidirectional floating base is presented, which motivates the optimization and detailed design of the aerial manipulator parameters and components. Inverse kinematic control of the manipulator is coupled to the omnidirectional base pose controller with a dynamic compensation term, going beyond common decoupled approaches. This presents a baseline for the control of redundant omnidirectional aerial manipulators. Experimental flights show the advantages of an active manipulator vs. a fixed arm for disturbance rejection and end effector tracking performance, as well as the practical limitations of the dynamic compensation term for fast end effector trajectories. The results motivate future studies for precise and dynamic aerial manipulation.

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Active Interaction Force Control for Contact-Based Inspection With a Fully Actuated Aerial Vehicle

Cited by 104 publications

References 29 publications

Past, Present, and Future of Aerial Robotic Manipulators

Past, Present, and Future of Aerial Robotic Manipulators

Dry Coupled Ultrasonic Non-Destructive Evaluation Using an Over-Actuated Unmanned Aerial Vehicle

Dynamic End Effector Tracking With an Omnidirectional Parallel Aerial Manipulator

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