Aerial Manipulation: A Literature Review

Ruggiero, Fabio; Lippiello, Vincenzo; Ollero, A.

doi:10.1109/lra.2018.2808541

Cited by 369 publications

(228 citation statements)

References 98 publications

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“…In this subsection, we will describe the main functional components of the developed platform and present the key features of the SAM. 1 It is worth mentioning that aerial carrier can be not only a UAV but also a manned aerial vehicle or even a crane. Such variations might be critical for places and applications where the operation of UAVs is restricted.…”

Section: A Design Of the Sammentioning

confidence: 99%

“…The development of a system combining robotic manipulator capabilities and UAV dexterity is complex and requires indepth research, analysis, and significant experience. Among a number of applications for the aerial manipulators [1], it is essential to list the following: the inspection of various structures, e.g., bridges, electric lines, and pipelines [2], assembly/repair of remotely located constructions [3], and any operations in hazardous/dangerous conditions for human safety such as decommissioning of damaged nuclear power plants. More examples with detailed description can be found in [4].…”

Section: Introductionmentioning

confidence: 99%

“…† The authors contributed equally to this work. 1 The authors are with Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany. 2 The authors are with LAAS-CNRS, Université de Toulouse, CNRS, Toulouse, France.…”

Section: Introductionmentioning

confidence: 99%

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Development of SAM: cable-Suspended Aerial Manipulator

Sarkisov

Kim

Bicego

et al. 2019

2019 International Conference on Robotics and Automation (ICRA)

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High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this paper. Instead of attaching a robotic manipulator directly to an aerial carrier, it is mounted on an active platform which is suspended on the carrier by means of a cable. As a result, higher safety can be achieved because the aerial carrier can keep a distance from the obstacles. For self-stabilization, the SAM is equipped with two actuation systems: winches and propulsion units. This paper presents an overview of the SAM including the concept behind, hardware realization, control strategy, and the first experimental results.

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Section: A Design Of the Sammentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Development of SAM: cable-Suspended Aerial Manipulator

Sarkisov

Kim

Bicego

et al. 2019

2019 International Conference on Robotics and Automation (ICRA)

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show abstract

“…In the last years, technological advances in miniaturized sensors/actuators and optimized data processing have lead to extensive use of small autonomous flying vehicles within the academic, military, and (more recently) commercial contexts (see [11,32,34] and references therein). Thanks to their high maneuverability and versatility, Unmanned Aerial Vehicles (UAVs) are rapidly increasing in popularity, thus becoming a mature technology in several application fields ranging from the classical visual sensing tasks (e.g., surveillance and aerial photography [17,26] to the recent environment exploration and physical interaction (e.g., search and rescue operations, grasping and manipulation [14,21,27,29,33]).…”

Section: Introductionmentioning

confidence: 99%

Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction

et al. 2020

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We consider the hovering control problem for a class of multi-rotor aerial platforms with generically oriented propellers. Given the intrinsically coupled translational and rotational dynamics of such vehicles, we first discuss some assumptions for the considered systems to reject torque disturbances and to balance the gravity force, which are translated into a geometric characterization of the platforms that is usually fulfilled by both standard models and more general configurations. Hence, we propose a control strategy based on the identification of a zero-moment direction for the applied force and the dynamic state feedback linearization around this preferential direction, which allows to asymptotically stabilize the platform to a static hovering condition. Stability and convergence properties of the control law are rigorously proved through Lyapunov-based methods and reduction theorems for the stability of nested sets. Asymptotic zeroing of the error dynamics and convergence to the static hovering condition are then confirmed by simulation results on a star-shaped hexarotor model with tilted propellers.

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“…The most common solutions to the aerial manipulation problem usually mount a gripper or robotic arm to the UAV. 4 Some examples of this can be seen in works where the problem of grasping and perching are addressed using light-weight and low-complexity grippers. 5,6 Another way to address the problem is by means of bio-inspired designs manipulator arms for aerial griping.…”

Section: Introductionmentioning

confidence: 99%

Two PVTOLs cooperative slung‐load transport control based on passivity

2019

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This work addresses the problem of two unmanned aerial vehicles (UAVs) transporting a slung‐load on a plane. The vehicles presented are a simplified version of the classical planar vertical take‐off and landing (PVTOL). The proposed solution implements a decentralized control scheme based on the concept of passivity where there is no explicit communication between agents. This is accomplished by taking advantage of the physical connection between the agents and the load. In contrast with similar control algorithms based on force control, like impedance filters, the objective is to drive the system into a state of minimal energy. In addition to this, the presented control strategy differs from other passivity based methods, like an interconnection and damping assignment passivity‐based control, in that the method can also be used to accommodate more complex control strategies that do not necessarily depend on the energy of the system.

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Aerial Manipulation: A Literature Review

Cited by 369 publications

References 98 publications

Development of SAM: cable-Suspended Aerial Manipulator

Development of SAM: cable-Suspended Aerial Manipulator

Hierarchical nonlinear control for multi-rotor asymptotic stabilization based on zero-moment direction

Two PVTOLs cooperative slung‐load transport control based on passivity

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